2,740 research outputs found

    Protocols for calibrating multibeam sonar

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    Development of protocols for calibrating multibeam sonar by means of the standard-target method is documented. Particular systems used in the development work included three that provide the water-column signals, namely the SIMRAD SM2000/90- and 200-kHz sonars and RESON SeaBat 8101 sonar, with operating frequency of 240 kHz. Two facilities were instrumented specifically for the work: a sea well at the Woods Hole Oceanographic Institution and a large, indoor freshwater tank at the University of New Hampshire. Methods for measuring the transfer characteristics of each sonar, with transducers attached, are described and illustrated with measurement results. The principal results, however, are the protocols themselves. These are elaborated for positioning the target, choosing the receiver gain function, quantifying the system stability, mapping the directionality in the plane of the receiving array and in the plane normal to the central axis, measuring the directionality of individual beams, and measuring the nearfield response. General preparations for calibrating multibeam sonars and a method for measuring the receiver response electronically are outlined. Advantages of multibeam sonar calibration and outstanding problems, such as that of validation of the performance of multibeam sonars as configured for use, are mentioned

    Uncertainty Modeling for AUV Acquired Bathymetry

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    Abstract Autonomous Underwater Vehicles (AUVs) are used across a wide range of mission scenarios and from an increasingly diverse set of operators. Use of AUVs for shallow water (less than 200 meters) mapping applications is of increasing interest. However, an update of the total propagated uncertainty TPU model is required to properly attribute bathymetry data acquired from an AUV platform compared with surface platform acquired data. An overview of the parameters that should be considered for data acquired from an AUV platform is discussed. Data acquired in August 2014 using NOAA’s Remote Environmental Measuring UnitS (REMUS) 600 AUV in the vicinity of Portsmouth, NH were processed and analyzed through Leidos’ Survey Analysis and Area Based EditoR (SABER) software. Variability in depth and position of seafloor features observed multiple times from repeat passes of the AUV, and junctioning of the AUV acquired bathymetry with bathymetry acquired from a surface platform are used to evaluate the TPU model and to characterize the AUV acquired data

    Use of baited remote underwater video (BRUV) and motion analysis for studying the impacts of underwater noise upon free ranging fish and implications for marine energy management

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    © 2016 Elsevier Ltd Free-ranging individual fish were observed using a baited remote underwater video (BRUV) system during sound playback experiments. This paper reports on test trials exploring BRUV design parameters, image analysis and practical experimental designs. Three marine species were exposed to playback noise, provided as examples of behavioural responses to impulsive sound at 163–171 dB re 1 μPa (peak-to-peak SPL) and continuous sound of 142.7 dB re 1 μPa (RMS, SPL), exhibiting directional changes and accelerations. The methods described here indicate the efficacy of BRUV to examine behaviour of free-ranging species to noise playback, rather than using confinement. Given the increasing concern about the effects of water-borne noise, for example its inclusion within the EU Marine Strategy Framework Directive, and the lack of empirical evidence in setting thresholds, this paper discusses the use of BRUV, and short term behavioural changes, in supporting population level marine noise management

    Status and Recent Results of the Acoustic Neutrino Detection Test System AMADEUS

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    The AMADEUS system is an integral part of the ANTARES neutrino telescope in the Mediterranean Sea. The project aims at the investigation of techniques for acoustic neutrino detection in the deep sea. Installed at a depth of more than 2000m, the acoustic sensors of AMADEUS are based on piezo-ceramics elements for the broad-band recording of signals with frequencies ranging up to 125kHz. AMADEUS was completed in May 2008 and comprises six "acoustic clusters", each one holding six acoustic sensors that are arranged at distances of roughly 1m from each other. The clusters are installed with inter-spacings ranging from 15m to 340m. Acoustic data are continuously acquired and processed at a computer cluster where online filter algorithms are applied to select a high-purity sample of neutrino-like signals. 1.6 TB of data were recorded in 2008 and 3.2 TB in 2009. In order to assess the background of neutrino-like signals in the deep sea, the characteristics of ambient noise and transient signals have been investigated. In this article, the AMADEUS system will be described and recent results will be presented.Comment: 7 pages, 8 figures. Proceedings of ARENA 2010, the 4th International Workshop on Acoustic and Radio EeV Neutrino Detection Activitie

    Design and Development of an acoustic positioning system for a cubic kilometre underwater neutrino telescope

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    En los últimos años los telescopios submarinos de neutrinos han cobrado una mayor importancia ya que consisten en un nuevo y único instrumento para observar el Universo. Los neutrinos son partículas sin carga e interactúan muy débilmente con la materia que les rodean, pueden escaparse fácilmente de la fuente que los ha producidos y llegar a La Tierra sin ser desviada por los campo magnético y sin interactuar con otras partículas. Esto implica que los neutrinos pueden traer informaciones astrofísicas que otros mensajeros no pueden aportar y abrir una potencial ventana hacia el Universo. Por otro lado, su baja interacción con la materia impone la necesidad de construir un detector de grandes dimensiones del orden de 1 km3 utilizando volumen de agua o hielo y con muchos sensores ópticos para detectar esta interacción de neutrino de alta energía. Un método para detectar neutrinos es a través de la luz Cherenkov emitida por el muon generado después de una interacción de neutrino. Esta partícula, al atravesar el detector con una velocidad superior a la luz en el medio, genera una débil luz azulada llamada radiación de Cherenkov que es detectada por una red de sensores ópticos (fotomultiplicadores). El tiempo de llegada de la luz a los fotomultiplicadores puede ser utilizado para reconstruir la traza del muon y consecuentemente del neutrino que lo ha producido. La precisión en la reconstrucción de la traza del muon depende de la precisión en la medida del tiempo de llegada de la luz y en la precisión en de la posición de los sensores ópticos en el detector. Por esta razón, en telescopios submarinos es necesario un sistema de posicionamiento acústico (APS) capaz de monitorizar el movimiento de los sensores ópticos con una precisión de ~10 cm. Los estudios realizados están enmarcados dentro de las actividades de calibración de posicionamiento acústico en dos colaboraciones europeas para el diseño, construcción y operación de telescopios submarinos de neutrinos en el MediterLarosa ., G. (2012). Design and Development of an acoustic positioning system for a cubic kilometre underwater neutrino telescope [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/16877Palanci

    Pose Detection and Control of Unmanned Underwater Vehicles (UUVs) Utilizing an Optical Detector Array

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    As part of the research for development of a leader-follower formation between unmanned underwater vehicles (UUVs), this study presents an optical feedback system for UUV navigation via an optical detector array. Capabilities of pose detection and control in a static-dynamic system (e.g. UUV navigation into a docking station) and a dynamic-dynamic system (e.g. UUV to UUV leader-follower system) are investigated. In both systems, a single light source is utilized as a guiding beacon for a tracker/follower UUV. The UUV uses an optical array consisting of photodiodes to receive the light field emitted from the light source. For UUV navigation applications, accurate pose estimation is essential. In order to evaluate the feasibility of underwater distance detection, the effective communication range between two platforms, i.e. light source and optical detector, and the optimum spectral range that allowed maximum light transmission are calculated. Based on the light attenuation in underwater, the geometry and dimensions of an optical detector array are determined, and the boundary conditions for the developed pose detection algorithms along with the error sources in the experiments are identified. As a test bed to determine optical array dimensions and size, a simulator, i.e. numerical software, is developed, where planar and curved array geometries of varying number of elements are analytically compared and evaluated. Results show that the curved optical detector array is able to distinguish 5 degree- of-freedom (DOF) motion (translation in x, y, z-axes and pitch and yaw rotations) with respect to a single light source. Analytical pose detection and control algorithms are developed for both static-dynamic and dynamic-dynamic systems. Results show that a 5 x 5 curved detector array with the implementation of SMC is reasonably sufficient for practical UUV positioning applications. The capabilities of an optical detector array to determine the pose of a UUV in 3-DOF (x, y and z-axes) are experimentally tested. An experimental platform consisting of a 5 x 5 photodiode array mounted on a hemispherical surface is used to sample the light field emitted from a single light source. Pose detection algorithms are developed to detect pose for steady-state and dynamic cases. Monte Carlo analysis is conducted to assess the pose estimation uncertainty under varying environmental and hardware conditions such as water turbidity, temperature variations in water and electrically-based noise. Monte Carlo analysis results show that the pose uncertainties (within 95% confidence interval) associated with x, y and z-axes are 0.78 m, 0.67 m and 0.56 m, respectively. Experimental results demonstrate that x, y and z-axes pose estimates are accurate to within 0.5 m, 0.2 m and 0.2 m, respectively

    Underwater mapping using a SONAR

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    Este estudo explora a capacidade física do raio de um sonar mecânico para construir um mapa do ambiente envolvente e encontrar a localização do veículo nesse mesmo mapa. Os dados do sonar alimentam um extrator de pontos de interesse e um algoritmo SLAM. Esse algoritmo é composto por uma implementação de Octomaps, junto com um filtro de partículas. Vários testes foram executados dentro de um ambiente estruturado e os resultados desses testes são demonstrados neste estudo.This study explores the physical capabilities of the beam of a mechanical scanning imaging sonar to build a map of the surrounding environment and to find the location of the vehicle within the map. The data from the sonar feed into a feature extractor and a SLAM algorithm. The SLAM algorithm is composed of an Octomaps implementation together with a particle filter. Several tests were ran within a structured environment and the map of the structured environment as well as the location of the vehicle are presented

    Advanced Engineering Laboratory project summaries 1992

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    The Advanced Engineering Laboratory of the Woods Hole Oceanographic Institution is a development laboratory within the Applied Ocean Physics and Engineering Deparment. Its function is the development of oceanographic instrumentation to test developing theories in oceanography, and to enhance current research projects in other disciplines within the community. This report summarzes recent and ongoing projects perfomied by members of this laboratory

    DeepSurveyCam — A Deep Ocean Optical Mapping System

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    Underwater photogrammetry and in particular systematic visual surveys of the deep sea are by far less developed than similar techniques on land or in space. The main challenges are the rough conditions with extremely high pressure, the accessibility of target areas (container and ship deployment of robust sensors, then diving for hours to the ocean floor), and the limitations of localization technologies (no GPS). The absence of natural light complicates energy budget considerations for deep diving flash-equipped drones. Refraction effects influence geometric image formation considerations with respect to field of view and focus, while attenuation and scattering degrade the radiometric image quality and limit the effective visibility. As an improvement on the stated issues, we present an AUV-based optical system intended for autonomous visual mapping of large areas of the seafloor (square kilometers) in up to 6000 m water depth. We compare it to existing systems and discuss tradeoffs such as resolution vs. mapped area and show results from a recent deployment with 90,000 mapped square meters of deep ocean floor

    3D reconstruction and motion estimation using forward looking sonar

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    Autonomous Underwater Vehicles (AUVs) are increasingly used in different domains including archaeology, oil and gas industry, coral reef monitoring, harbour’s security, and mine countermeasure missions. As electromagnetic signals do not penetrate underwater environment, GPS signals cannot be used for AUV navigation, and optical cameras have very short range underwater which limits their use in most underwater environments. Motion estimation for AUVs is a critical requirement for successful vehicle recovery and meaningful data collection. Classical inertial sensors, usually used for AUV motion estimation, suffer from large drift error. On the other hand, accurate inertial sensors are very expensive which limits their deployment to costly AUVs. Furthermore, acoustic positioning systems (APS) used for AUV navigation require costly installation and calibration. Moreover, they have poor performance in terms of the inferred resolution. Underwater 3D imaging is another challenge in AUV industry as 3D information is increasingly demanded to accomplish different AUV missions. Different systems have been proposed for underwater 3D imaging, such as planar-array sonar and T-configured 3D sonar. While the former features good resolution in general, it is very expensive and requires huge computational power, the later is cheaper implementation but requires long time for full 3D scan even in short ranges. In this thesis, we aim to tackle AUV motion estimation and underwater 3D imaging by proposing relatively affordable methodologies and study different parameters affecting their performance. We introduce a new motion estimation framework for AUVs which relies on the successive acoustic images to infer AUV ego-motion. Also, we propose an Acoustic Stereo Imaging (ASI) system for underwater 3D reconstruction based on forward looking sonars; the proposed system features cheaper implementation than planar array sonars and solves the delay problem in T configured 3D sonars
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