Search results for: low visibility underwater survey

Authors: Mohammad Moonesun, Ehsan Asadi Asrami, Julia Bodnarchuk

Abstract:

In the case of Solar Autonomous Underwater Vehicle, which uses photovoltaic panels to provide its required power, due to limitation of energy, accurate estimation of resistance and energy has major sensitivity. In this work, hydrodynamic calculations by numerical method for a solar autonomous underwater vehicle equipped by two 50 W photovoltaic panels has been studied. To evaluate the required power and energy, hull hydrodynamic resistance in several velocities should be taken into account. To do this assessment, the ANSYS FLUENT 18 applied as Computational Fluid Dynamics (CFD) tool that solves Reynolds Average Navier Stokes (RANS) equations around AUV hull, and K-ω SST is used as turbulence model. To validate of solution method and modeling approach, the model of Myring submarine that it’s experimental data was available, is simulated. There is good agreement between numerical and experimental results. Also, these results showed that the K-ω SST Turbulence model is an ideal method to simulate the AUV motion in low velocities.

Keywords: underwater vehicle, hydrodynamic resistance, numerical modelling, CFD, RANS

Procedia PDF Downloads 171

Authors: Bo Hu, Shibo Wang, Haoyang Zhang, Jie Shi

Abstract:

With the development of sonar detection technology, the acoustic stealth technology of underwater vehicles is facing severe challenges. The underwater acoustic coating is developing towards the direction of low-frequency absorption capability and broad absorption frequency bandwidth. In this paper, an acoustic model of underwater acoustic coating of composite material embedded with periodical steel structure is presented. The model has multiple high absorption peaks in the frequency range of 1kHz-8kHz, where achieves high sound absorption and broad bandwidth performance. It is found that the frequencies of the absorption peaks are related to the classic half-wavelength transmission principle. The sound absorption performance of the acoustic model is investigated by the finite element method using COMSOL software. The sound absorption mechanism of the proposed model is explained by the distributions of the displacement vector field. The influence of geometric parameters of periodical steel structure, including thickness and distance, on the sound absorption ability of the proposed model are further discussed. The acoustic model proposed in this study provides an idea for the design of underwater low-frequency broadband acoustic coating, and the results shows the possibility and feasibility for practical underwater application.

Keywords: acoustic coating, composite material, broad frequency bandwidth, sound absorption performance

Procedia PDF Downloads 146

Authors: Mustafa Taskin, Ozgur Demir, M. Mert Serveren

Abstract:

The precise study of the impact of underwater explosions on structures is of great importance in the design and engineering calculations of floating structures, especially those used for military purposes, as well as power generation facilities such as offshore platforms that can become a target in case of war. Considering that ship and submarine structures are mostly curved surfaces, it is extremely important and interesting to examine the destructive effects of underwater explosions on curvilinear surfaces. In this study, geometric nonlinear dynamic analysis of cylindrical composite sandwich shells subjected to instantaneous pressure load is performed. The instantaneous pressure load is defined as an underwater explosion and the effects of the liquid medium are taken into account. There are equations in the literature for pressure due to underwater explosions, but these equations have been obtained for flat plates. For this reason, the instantaneous pressure load equations are arranged to be suitable for curvilinear structures before proceeding with the analyses. Fluid-solid interaction is defined by using Taylor's Plate Theory. The lower and upper layers of the cylindrical composite sandwich shell are modeled as composite laminate and the middle layer consists of soft core. The geometric nonlinear dynamic equations of the shell are obtained by Hamilton's principle, taken into account the von Kàrmàn theory of large displacements. Then, time dependent geometric nonlinear equations of motion are solved with the help of generalized differential quadrature method (GDQM) and dynamic behavior of cylindrical composite sandwich shells exposed to underwater explosion is investigated. An algorithm that can work parametrically for the solution has been developed within the scope of the study.

Keywords: cylindrical composite sandwich shells, generalized differential quadrature method, geometric nonlinear dynamic analysis, underwater explosion

Procedia PDF Downloads 166

Authors: Ahmad Forouzantabar, Mohammad Azadi, Alireza Alesaadi

Abstract:

This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach.

Keywords: lyapunov stability, autonomous underwater vehicle, sliding mode controller, electronics engineering

Procedia PDF Downloads 583

Authors: M. S. Sukumar

Abstract:

Our objective is to develop a full-fledged system for exploring and studying nature of fossils and to extend this to underwater archaeology and mineral mapping. This includes aerial surveying, imaging techniques, artefact extraction and spectrum analysing techniques. These techniques help in regular monitoring of fossils and also the sensing system. The ROV was designed to complete several tasks which simulate collecting data and samples. Given the time constraints, the ROV was engineered for efficiency and speed in performing tasks. Its other major design consideration was modularity, allowing the team to distribute the building process, to easily test systems as they were completed and troubleshoot and replace systems as necessary. Our design itself had several challenges of on-board waterproofed sensor mounting, waterproofing of motors, ROV stability criteria, camera mounting and hydrophone sound acquisition.

Keywords: remotely operated vehicle (ROV) dragonair, underwater archaeology, full-fledged system, aerial imaging and detection

Procedia PDF Downloads 210

Authors: Erim Koyun

Abstract:

This paper aim to construct a mathematical model for Underwater vehicles under load variation test conditions. Propeller effects on underwater vehicle are investigated. Body with counter rotating propeller model is analyzed by CFD methods, thus forces and moment are obtained. Propeller effects of vehicle’s hydrodynamic performance under load variation conditions will be investigated. Additionally, pressure contour is examined for differences between different load conditions. Axial force equation is established using hydrodynamic coefficients, which contains resistance, thrust, and additional coefficients occurs due to load variations. Additional coefficients helps to express completely axial force on underwater vehicle. When the vehicle accelerates, additional force occurs besides thrust force increment. This is propeller effect on the body. Hence, mathematical model cover this effect. For CFD analysis, the incompressible, three-dimensional, and unsteady Reynolds Averaged Navier-Stokes equations will be used Numerical results is verified with experimental results for verification. The overall goal of this study is to present complementary mathematical model for body with counter rotating propeller.

Keywords: counter rotating propeller, CFD, hydrodynamic mathematic model, hydrodynamics analysis, thrust deduction

Procedia PDF Downloads 117

Authors: A. Khan, H. Mahmood

Abstract:

In Underwater Wireless Sensor Networks (UWSNs), sensor nodes close to water surface (final destination) are often preferred for selection as forwarders. However, their frequent selection makes them depleted of their limited battery power. In consequence, these nodes die during early stage of network operation and create energy holes where forwarders are not available for packets forwarding. These holes severely affect network throughput. As a result, system performance significantly degrades. In this paper, a routing protocol is proposed to avoid energy holes during packets forwarding. The proposed protocol does not require the conventional position information (localization) of holes to avoid them. Localization is cumbersome; energy is inefficient and difficult to achieve in underwater environment where sensor nodes change their positions with water currents. Forwarders with the lowest water pressure level and the maximum number of neighbors are preferred to forward packets. These two parameters together minimize packet drop by following the paths where maximum forwarders are available. To avoid interference along the paths with the maximum forwarders, a packet holding time is defined for each forwarder. Simulation results reveal superior performance of the proposed scheme than the counterpart technique.

Keywords: energy holes, interference, routing, underwater

Procedia PDF Downloads 385

Authors: Mohammad Reza Taherkhani‎

Abstract:

Wireless sensor networks that are used to monitor a special environment, are formed from a large number of sensor nodes. The role of these sensors is to sense special parameters from ambient and to make a connection. In these networks, the most important challenge is the management of energy usage. Clustering is one of the methods that are broadly used to face this challenge. In this paper, a distributed clustering protocol based on learning automata is proposed for underwater wireless sensor networks. The proposed algorithm that is called LA-Clustering forms clusters in the same energy level, based on the energy level of nodes and the connection radius regardless of size and the structure of sensor network. The proposed approach is simulated and is compared with some other protocols with considering some metrics such as network lifetime, number of alive nodes, and number of transmitted data. The simulation results demonstrate the efficiency of the proposed approach.

Keywords: underwater sensor networks, clustering, learning automata, energy consumption

Procedia PDF Downloads 336

Authors: Mirza Mohibulla Baig, Imil Hamda Imran, Tri Bagus Susilo, Sami El Ferik

Abstract:

The paper deals with system identification and control a nonlinear model of semi-autonomous underwater vehicle (UUV). The input-output data is first generated using the experimental values of the model parameters and then this data is used to compute the estimated parameter values. In this study, we use the semi-autonomous UUV LAURS model, which is developed by the Sensors and Actuators Laboratory in University of Sao Paolo. We applied three methods to identify the parameters: integral method, which is a classical least square method, recursive least square, and weighted recursive least square. In this paper, we also apply three different inputs (step input, sine wave input and random input) to each identification method. After the identification stage, we investigate the control performance of yaw motion of nonlinear semi-autonomous Unmanned Underwater Vehicle (UUV) using feedback linearization-based controller. In addition, we compare the performance of the control with an integral and a non-integral part along with state feedback. Finally, disturbance rejection and resilience of the controller is tested. The results demonstrate the ability of the system to recover from such fault.

Keywords: system identification, underwater vehicle, integral method, recursive least square, weighted recursive least square, feedback linearization, integral error

Procedia PDF Downloads 513

Authors: Keerthilatha Pai, Sakshi Kamra

Abstract:

Objectives: Determining the position of the mandibular canal prior to implant placement and surgeries of the posterior mandible are important to avoid the nerve injury. The visibility of the mandibular canal varies according to the imaging modality. Although panoramic radiography is the most common, slowly cone beam computed tomography is replacing it. This study was conducted with an aim to determine and compare the visibility of superior and inferior borders of the mandibular canal in digital panoramic radiograph, reformatted panoramic radiograph and cross-sectional images of cone beam computed tomography. Study design: digital panoramic, reformatted panoramic radiograph and cross sectional CBCT images of 25 human mandibles were evaluated for the visibility of the superior and inferior borders of the mandibular canal according to a 5 point scoring criteria. Also, the canal was evaluated as completely visible, partially visible and not visible. The mean scores and visibility percentage of all the imaging modalities were determined and compared. The interobserver and intraobserver agreement in the visualization of the superior and inferior borders of the mandibular canal were determined. Results: The superior and inferior borders of the mandibular canal were completely visible in 47% of the samples in digital panoramic, 63% in reformatted panoramic and 75.6% in CBCT cross-sectional images. The mandibular canal was invisible in 24% of samples in digital panoramic, 19% in reformatted panoramic and 2% in cross-sectional CBCT images. Maximum visibility was seen in Zone 5 and least visibility in Zone 1. On comparison of all the imaging modalities, CBCT cross-sectional images showed better visibility of superior border in Zones 2,3,4,6 and inferior border in Zones 2,3,4,6. The difference was statistically significant. Conclusion: CBCT cross-sectional images were much superior in the visualization of the mandibular canal in comparison to reformatted and digital panoramic radiographs. The inferior border was better visualized in comparison to the superior border in digital panoramic imaging. The mandibular canal was maximumly visible in posterior one-third region of the mandible and the visibility decreased towards the mental foramen.

Keywords: cone beam computed tomography, mandibular canal, reformatted panoramic radiograph, visualization

Procedia PDF Downloads 108

Authors: Motahareh Fadaei

Abstract:

Wireless sensor networks that are used to monitor a special environment, are formed from a large number of sensor nodes. The role of these sensors is to sense special parameters from ambient and to make connection. In these networks, the most important challenge is the management of energy usage. Clustering is one of the methods that are broadly used to face this challenge. In this paper, a distributed clustering protocol based on learning automata is proposed for underwater wireless sensor networks. The proposed algorithm that is called LA-Clustering forms clusters in the same energy level, based on the energy level of nodes and the connection radius regardless of size and the structure of sensor network. The proposed approach is simulated and is compared with some other protocols with considering some metrics such as network lifetime, number of alive nodes, and number of transmitted data. The simulation results demonstrate the efficiency of the proposed approach.

Keywords: clustering, energy consumption‎, learning automata, underwater sensor networks

Procedia PDF Downloads 294

Authors: Zohreh Khojasteh-Ghamari, Takashi Irohara

Abstract:

One of the efficient ways in supply chain risk management is avoiding the interruption in Supply Chain (SC) before it occurs. Although the majority of the organizations focus on their first-tier suppliers to avoid risk in the SC, studies show that in only 60 percent of the disruption cases the reason is first tier suppliers. In the 40 percent of the SC disruptions, the reason is downstream SC, which is the second tier and lower. Due to the increasing complexity and interrelation of modern supply chains, the SC elements have become difficult to trace. Moreover, studies show that there is a vital need to better understand the integration of risk and visibility, especially in the context of multiple objectives. In this study, we propose a multi-objective programming model to avoid disruption in SC. The objective of this study is evaluating the effect of downstream SCV on managing supply chain risk. We propose a multi-objective mathematical programming model with the objective functions of minimizing the total cost and maximizing the downstream supply chain visibility (SCV). The decision variable is supplier selection. We assume there are several manufacturers and several candidate suppliers. For each manufacturer, our model proposes the best suppliers with the lowest cost and maximum visibility in downstream supply chain. We examine the applicability of the model by numerical examples. We also define several scenarios for datasets and observe the tendency. The results show that minimum visibility in downstream SC is needed to have a safe SC network.

Keywords: downstream supply chain, optimization, supply chain risk, supply chain visibility

Procedia PDF Downloads 222

Authors: M. Dhana Lakshmi, S. Sakthivel Murugan

Abstract:

As light passes from source to observer in the water medium, it is scattered by the suspended particulate matter. This scattering effect will plague the captured images with non-uniform illumination, blurring details, halo artefacts, weak edges, etc. To overcome this, pixel normalization with an Amended Unsharp Mask (AUM) filter is proposed to enhance the degraded image. To validate the robustness of the proposed technique irrespective of atmospheric light, the considered datasets are collected on dual locations. For those images, the maxima and minima pixel intensity value is computed and normalized; then the AUM filter is applied to strengthen the blurred edges. Finally, the enhanced image is obtained with good illumination and contrast. Thus, the proposed technique removes the effect of scattering called de-hazing and restores the perceptual information with enhanced edge detail. Both qualitative and quantitative analyses are done on considering the standard non-reference metric called underwater image sharpness measure (UISM), and underwater image quality measure (UIQM) is used to measure color, sharpness, and contrast for both of the location images. It is observed that the proposed technique has shown overwhelming performance compared to other deep-based enhancement networks and traditional techniques in an adaptive manner.

Keywords: underwater drone imagery, pixel normalization, thresholding, masking, unsharp mask filter

Procedia PDF Downloads 163

Authors: Wojciech Kulesza

Abstract:

The north-western part of the Poland, specifically West Pomerania and Lubuskie provinces, from several years are the subject of research of the Department of Archaeology of Early Middle Ages of Institute of Archaeology of Nicolaus Copernicus University in Toruń. This area has a dense network of rivers and numerous lakes, where many of them are connected to the southern part of the Baltic Sea. During the many years of research in this area, archaeologists discovered the remains of the early Middle Ages settlement located on several islands and in most cases were encountered relics of early Middle Ages bridges linking those islands with the mainland. During the excavation, work was carried out both under water and on land for the accurate identification of islands and adjacent to them underwater areas. The result of this work is a graphic documentation, made in a three-dimensional technique, not only for the underwater trenches but also relics of bridges and objects discovered during exploration, which as the main theme will be presented in the full presentation.

Keywords: Poland, underwater archaeology, Nicolaus Copernicus University, early middle ages

Procedia PDF Downloads 227

Authors: María Del Carmen Baena Lupiáñez

Abstract:

Music has been considered for decades as a tool to express emotions. In the case of people with some physical disabilities, they are able to develop what is known as echolocation. It means that the development of some of the senses to compensate the lack of one of them. For instance, it has been proved that people with reduced visibility have a more developed hearing capacity. In series or films, music is fundamental to contextualize the viewer in the story. Music becomes an indispensable element to make people with reduced visibility to understand the plot and to avoid ambiguities, in the absence of an audio description. Since the songs of Japanese animes have not been as studied as other soundtracks from this point of view to our knowledge, the three openings of the anime Shingeki no Kyojin have been chosen to carry out the experiment from which this study will start. It will test the perceptions of people with reduced visibility by reproducing the three opening songs of Shingeki no Kyojin and asking the users questions related to their thoughts about the anime, their feelings when listening to these songs and the possible story that this anime could be about. In fact, users could identify in general the plot of the story and their perceptions corresponded to what the songs should transmit, taking into account its chords and harmonies.

Keywords: anime, argumental contextualization, echolocations, emotions

Procedia PDF Downloads 166

Authors: Abdul Mufid

Abstract:

This study aims to integrate hadith, astronomy, and sociology studies in studying the accelerated implementation of the unification of the Hijri calendar through a multidisciplinary approach. The Hijri calendar is compiled based on the astronomical phenomena of regular movements of the earth, moon, and sun. Meanwhile, for the implementation of worship, the Hijri calendar must refer to the provisions of Islamic law or fiqh. To set the Hijri calendar, agreement on the criteria for the visibility of the new moon (first crescent), date limits, and absolute authority is required. Agreement on visibility criteria requires a valid basis for astronomical studies. Agreement on territorial boundaries is necessary because our earth is round, and the new moon cannot be observed simultaneously. And the agreement of the authorities is also needed to resolve unavoidable differences, especially differences in the appearance of the new moon and differences in schools of thought. The research is based on astronomical data, the experiences of Indonesia and Islamic countries regarding the Hijri calendar, in-depth and focused interviews with various sources, as well as a review of hadith literature. The results of the study show that the implementation of the unification of the Hijri calendar through the three approaches above can be carried out and can be accelerated.

Keywords: calendar unification, new moon (hilal) visibility, multidisciplinary approach, the unity of the Muslims

Procedia PDF Downloads 55

Authors: Ki Hyun Park, Hye Min Park, Jeong Ho Kim, Chan Jong Park, Koan Sik Joo

Abstract:

In the modern days, the use of radioactive substances is on the rise in the areas like chemical weaponry, industrial usage, and power plants. Although there are various technologies available to detect and monitor radioactive substances in the air, the technologies to detect underwater radioactive substances are scarce. In this study, computer simulation of the underwater detection system measuring beta-ray, a radioactive substance, has been done through MCNP. CaF₂, YAP(Ce) and YAG(Ce) have been used in the computer simulation to detect beta-ray as scintillator. Also, the source used in the computer simulation is Sr-90 and Y-90, both of them emitting only pure beta-ray. The distance between the source and the detector was shifted from 1mm to 10mm by 1 mm in the computer simulation. The result indicated that Sr-90 was impossible to measure below 1 mm since its emission energy is low while Y-90 was able to be measured up to 10mm underwater. In addition, the detector designed with CaF₂ had the highest efficiency among 3 scintillators used in the computer simulation. Since it was possible to verify the detectable range and the detection efficiency according to modeling through MCNP simulation, it is expected that such result will reduce the time and cost in building the actual beta-ray detector and evaluating its performances, thereby contributing the research and development.

Keywords: Beta-ray, CaF₂, detector, MCNP simulation, scintillator

Procedia PDF Downloads 472

Authors: Tianyang Xu

Abstract:

Small underwater targets generally have a non-centrosymmetric geometry, and the acoustic scattering field of the target has spatial inhomogeneity under active sonar detection conditions. In view of the above problems, this paper takes the hemispherical cylindrical shell as the research object, and considers the angle continuity implied in the echo characteristics, and proposes a cluster-driven research method for the non-uniform characteristics of target echo angle. First, the target echo features are extracted, and feature vectors are constructed. Secondly, the t-SNE algorithm is used to improve the internal connection of the feature vector in the low-dimensional feature space and to construct the visual feature space. Finally, the implicit angular relationship between echo features is extracted under unsupervised condition by cluster analysis. The reconstruction results of the local geometric structure of the target corresponding to different categories show that the method can effectively divide the angle interval of the local structure of the target according to the natural acoustic scattering characteristics of the target.

Keywords: underwater target;, non-uniform characteristics;, cluster-driven method;, acoustic scattering characteristics

Procedia PDF Downloads 92

Authors: S. Pramanik

Abstract:

Since the early ages, the Hindu temples have been interpreted through various Vedic philosophies. These temples are visited by pilgrims which demonstrate the rituals and religious belief of communities, reflecting a variety of actions and behaviors. Darsana— a direct seeing, is a part of the pilgrimage activity. During the process of Darsana, a devotee is prepared for entry in the temple to realize the cognizing Truth culminating in visualizing the idol of God, placed at the Garbhagriha (sanctum sanctorum). For this, the pilgrim must pass through a sequential arrangement of spaces. During the process of progress, the pilgrims visualize the spaces differently from various points of views. The viewpoints create a variety of spatial patterns in the minds of pilgrims coherent to the Hindu philosophies. The space organization and its order are perceived by various techniques of spatial analysis. A temple, as examples of Kalinga stylistic variations, has been chosen for the study. This paper intends to demonstrate some visual patterns generated during the process of Darsana (visibility) and its accessibility by Point Isovist Studies and Visibility Graph Analysis from the entrance (Simha Dwara) to The Sanctum sanctorum (Garbhagriha).

Keywords: Hindu temple architecture, point isovist, space syntax analysis, visibility graph analysis

Procedia PDF Downloads 94

Authors: Nabil Saad, David Morgan, Manish Gupta

Abstract:

Visibility has become a key component of air quality and is regulated in many areas by environmental laws such as the EPA Clean Air Act and Regional Haze Rule. Typically, visibility is calculated by estimating the optical absorption and scattering of both gases and aerosols. A major component of the aerosols’ climatic effect is due to their scattering and absorption of solar radiation, which are governed by their optical and physical properties. However, the accurate assessment of this effect on global warming, climate change, and air quality is made difficult due to uncertainties in the calculation of single scattering albedo (SSA). Experimental complications arise in the determination of the single scattering albedo of an aerosol particle since it requires the simultaneous measurement of both scattering and extinction. In fact, aerosol optical absorption, in particular, is a difficult measurement to perform, and it’s often associated with large uncertainties when using filter methods or difference methods. In this presentation, we demonstrate the use of a new open-path Optical Extinction Analyzer (OEA) in conjunction with a nephelometer and two particle sizers, emphasizing the benefits that co-employment of the OEA offers to derive the complex refractive index of aerosols and their single scattering albedo parameter. Various use cases, data reproducibility, and instrument calibration will also be presented to highlight the value proposition of this novel Open-Path OEA.

Keywords: aerosols, extinction, visibility, albedo

Procedia PDF Downloads 57

Authors: Kuo-Cheng Liu

Abstract:

In the perceptual image coding, the objective is to shape the coding distortion such that the amplitude of distortion does not exceed the error visibility threshold, or to remove perceptually redundant signals from the image. While most researches focus on color image coding, the perceptual-based quantizer developed for luminance signals are always directly applied to chrominance signals such that the color image compression methods are inefficient. In this paper, the internal generative mechanism is integrated into the design of a color image compression method. The internal generative mechanism working model based on the structure-based spatial masking is used to assess the subjective distortion visibility thresholds that are visually consistent to human eyes better. The estimation method of structure-based distortion visibility thresholds for color components is further presented in a locally adaptive way to design quantization process in the wavelet color image compression scheme. Since the lowest subband coefficient matrix of images in the wavelet domain preserves the local property of images in the spatial domain, the error visibility threshold inherent in each coefficient of the lowest subband for each color component is estimated by using the proposed spatial error visibility threshold assessment. The threshold inherent in each coefficient of other subbands for each color component is then estimated in a local adaptive fashion based on the distortion energy allocation. By considering that the error visibility thresholds are estimated using predicting and reconstructed signals of the color image, the coding scheme incorporated with locally adaptive perceptual color quantizer does not require side information. Experimental results show that the entropies of three color components obtained by using proposed IGM-based color image compression scheme are lower than that obtained by using the existing color image compression method at perceptually lossless visual quality.

Keywords: internal generative mechanism, structure-based spatial masking, visibility threshold, wavelet domain

Procedia PDF Downloads 219

Authors: Kumar Divyendra

Abstract:

Underwater Sensor Networks (UWSNs) have wide applications in areas such as water quality monitoring, marine wildlife management etc. A typical UWSN system consists of a set of sensors deployed randomly underwater which communicate with each other using acoustic links. RF communication doesn't work underwater, and GPS too isn't available underwater. Additionally Automated Underwater Vehicles (AUVs) are deployed to collect data from some special nodes called Cluster Heads (CHs). These CHs aggregate data from their neighboring nodes and forward them to the AUVs using optical links when an AUV is in range. This helps reduce the number of hops covered by data packets and helps conserve energy. We consider the three-dimensional model of the UWSN. Nodes are initially deployed randomly underwater. They attach themselves to the surface using a rod and can only move upwards or downwards using a pump and bladder mechanism. We use graph theory concepts to maximize the coverage volume while every node maintaining connectivity with at least one surface node. We treat the surface nodes as landmarks and each node finds out its hop distance from every surface node. We treat these hop-distances as coordinates and use them for AUV navigation. An AUV intending to move closer to a node with given coordinates moves hop by hop through nodes that are closest to it in terms of these coordinates. In absence of GPS, multiple different approaches like Inertial Navigation System (INS), Doppler Velocity Log (DVL), computer vision-based navigation, etc., have been proposed. These systems have their own drawbacks. INS accumulates error with time, vision techniques require prior information about the environment. We propose a method that makes use of the earth's magnetic field values for navigation and combines it with other methods that simultaneously increase the coverage volume under the UWSN. The AUVs are fitted with magnetometers that measure the magnetic intensity (I), horizontal inclination (H), and Declination (D). The International Geomagnetic Reference Field (IGRF) is a mathematical model of the earth's magnetic field, which provides the field values for the geographical coordinateson earth. Researchers have developed an inverse deep learning model that takes the magnetic field values and predicts the location coordinates. We make use of this model within our work. We combine this with with the hop-by-hop movement described earlier so that the AUVs move in such a sequence that the deep learning predictor gets trained as quickly and precisely as possible We run simulations in MATLAB to prove the effectiveness of our model with respect to other methods described in the literature.

Keywords: clustering, deep learning, network backbone, parallel computing

Procedia PDF Downloads 66

Authors: Adel Sabry Eesa, Adnan Mohsin Abdulazeez Brifcani, Zeynep Orman

Abstract:

This paper presents a new meta-heuristic bio-inspired optimization algorithm which is called Cuttlefish Algorithm (CFA). The algorithm mimics the mechanism of color changing behavior of the cuttlefish to solve numerical global optimization problems. The colors and patterns of the cuttlefish are produced by reflected light from three different layers of cells. The proposed algorithm considers mainly two processes: reflection and visibility. Reflection process simulates light reflection mechanism used by these layers, while visibility process simulates visibility of matching patterns of the cuttlefish. To show the effectiveness of the algorithm, it is tested with some other popular bio-inspired optimization algorithms such as Genetic Algorithms (GA), Particle Swarm Optimization (PSO) and Bees Algorithm (BA) that have been previously proposed in the literature. Simulations and obtained results indicate that the proposed CFA is superior when compared with these algorithms.

Keywords: Cuttlefish Algorithm, bio-inspired algorithms, optimization, global optimization problems

Procedia PDF Downloads 536

Authors: Lingaraju Dumpala, Laxmi Mohan Kumar Chintada, Devadas Deepu, Pravin Kumar Yadav

Abstract:

Friction stir welding is the new-fangled and cutting-edge technique in welding applications; it is widely used in the fields of transportation, aerospace, defense, etc. For thriving significant welding joints and properties of friction stir welded components, it is essential to carry out this advanced process in a prescribed systematic procedure. At this moment, Underwater Friction Stir Welding (UFSW) Process is the field of interest to do research work. In the continuous assessment, the study of UFSW process is to comprehend problems occurred in the past and the structure through which the mechanical properties of the welded joints can be value-added and contributes to conclude results an acceptable and resourceful joint. A meticulous criticism is given on how to modify the experimental setup from NFSW to UFSW. It can discern the influence of tool materials, feeds, spindle angle, load, rotational speeds and mechanical properties. By expending the DEFORM-3D simulation software, the achieved outcomes are validated.

Keywords: Underwater Friction Stir Welding(UFSW), Al alloys, mechanical properties, Normal Friction Stir Welding(NFSW)

Procedia PDF Downloads 258

Authors: Charbel Aoun, Loic Lagadec

Abstract:

A Sensor Network (SN) is considered as an operation of two phases: (1) the observation/measuring, which means the accumulation of the gathered data at each sensor node; (2) transferring the collected data to some processing center (e.g., Fusion Servers) within the SN. Therefore, an underwater sensor network can be defined as a sensor network deployed underwater that monitors underwater activity. The deployed sensors, such as Hydrophones, are responsible for registering underwater activity and transferring it to more advanced components. The process of data exchange between the aforementioned components perfectly defines the Marine Observatory (MO) concept which provides information on ocean state, phenomena and processes. The first step towards the implementation of this concept is defining the environmental constraints and the required tools and components (Marine Cables, Smart Sensors, Data Fusion Server, etc). The logical and physical components that are used in these observatories perform some critical functions such as the localization of underwater moving objects. These functions can be orchestrated with other services (e.g. military or civilian reaction). In this paper, we present an extension to our MO meta-model that is used to generate a design tool (ArchiMO). We propose new constraints to be taken into consideration at design time. We illustrate our proposal with an example from the MO domain. Additionally, we generate the corresponding simulation code using our self-developed domain-specific model compiler. On the one hand, this illustrates our approach in relying on Enterprise Architecture (EA) framework that respects: multiple views, perspectives of stakeholders, and domain specificity. On the other hand, it helps reducing both complexity and time spent in design activity, while preventing from design modeling errors during porting this activity in the MO domain. As conclusion, this work aims to demonstrate that we can improve the design activity of complex system based on the use of MDE technologies and a domain-specific modeling language with the associated tooling. The major improvement is to provide an early validation step via models and simulation approach to consolidate the system design.

Keywords: smart sensors, data fusion, distributed fusion architecture, sensor networks, domain specific modeling language, enterprise architecture, underwater moving object, localization, marine observatory, NS-3, IMS

Procedia PDF Downloads 146

Authors: Isobel M. Thompson, Dorian Audot, Dominic Hudson, Martin Warner, Joseph Banks

Abstract:

Underwater fly kick is an essential skill in swimming, which can have a considerable impact upon overall race performance in competition, especially in sprint events. Reduced wave drags acting upon the body under the surface means that the underwater fly kick will potentially be the fastest the swimmer is travelling throughout the race. It is therefore critical to understand fly kicking techniques and determining biomechanical factors involved in the performance. Most previous studies assessing fly kick kinematics have focused on two-dimensional analysis; therefore, the three-dimensional elements of the underwater fly kick techniques are not well understood. Those studies that have investigated fly kicking techniques using three-dimensional methodologies have not reported full three-dimensional kinematics for the techniques observed, choosing to focus on one or two joints. There has not been a direct comparison completed on the results obtained using two-dimensional and three-dimensional analysis, and how these different approaches might affect the interpretation of subsequent results. The aim of this research is to quantify the differences in kinematics observed in underwater fly kicks obtained from both two and three-dimensional analyses of the same test conditions. In order to achieve this, a six-camera underwater Qualisys system was used to develop an experimental methodology suitable for assessing the kinematics of swimmer’s starts and turns. The cameras, capturing at a frequency of 100Hz, were arranged along the side of the pool spaced equally up to 20m creating a capture volume of 7m x 2m x 1.5m. Within the measurement volume, error levels were estimated at 0.8%. Prior to pool trials, participants completed a landside calibration in order to define joint center locations, as certain markers became occluded once the swimmer assumed the underwater fly kick position in the pool. Thirty-four reflective markers were placed on key anatomical landmarks, 9 of which were then removed for the pool-based trials. The fly-kick swimming conditions included in the analysis are as follows: maximum effort prone, 100m pace prone, 200m pace prone, 400m pace prone, and maximum pace supine. All trials were completed from a push start to 15m to ensure consistent kick cycles were captured. Both two-dimensional and three-dimensional kinematics are calculated from joint locations, and the results are compared. Key variables reported include kick frequency and kick amplitude, as well as full angular kinematics of the lower body. Key differences in these variables obtained from two-dimensional and three-dimensional analysis are identified. Internal rotation (up to 15º) and external rotation (up to -28º) were observed using three-dimensional methods. Abduction (5º) and adduction (15º) were also reported. These motions are not observed in the two-dimensional analysis. Results also give an indication of different techniques adopted by swimmers at various paces and orientations. The results of this research provide evidence of the strengths of both two dimensional and three dimensional motion capture methods in underwater fly kick, highlighting limitations which could affect the interpretation of results from both methods.

Keywords: swimming, underwater fly kick, performance, motion capture

Procedia PDF Downloads 106

Authors: Lucian Stefanita Grigore, Damian Gorgoteanu, Cristian Molder, Amado Stefan, Daniel Constantin

Abstract:

The purpose of this article is to present an analytical-numerical study on the structural behavior of a sunken autonomous underwater vehicle (AUV) for emergency intervention. The need for such a study was generated by the key objective of the ERL-Emergency project. The project aims to develop a system of collaborative robots for emergency response. The system consists of two robots: unmanned ground vehicles (UGV) on tracks and the second is an AUV. The system of collaborative robots, AUV and UGV, will be used to perform missions of monitoring, intervention, and rescue. The main mission of the AUV is to dive into the maritime space of an industrial port to detect possible leaks in a pipeline transporting petroleum products. Another mission is to close and open the valves with which the pipes are provided. Finally, you will need to be able to lift a manikin to the surface, which you can take to land. Numerical analysis was performed by the finite element method (FEM). The conditions for immersing the AUV at 100 m depth were simulated, and the calculations for different fluid flow rates were repeated. From a structural point of view, the stiffening areas and the enclosures in which the command-and-control elements and the accumulators are located have been especially analyzed. The conclusion of this research is that the AUV meets very well the established requirements.

Keywords: analytical-numerical, emergency, FEM, robotics, underwater

Procedia PDF Downloads 126

Authors: Hongjian Jia

Abstract:

A finite-length cylindrical shell with a spherical cap is a typical engineering approximation model of actual underwater targets. The research on the omni-directional acoustic scattering characteristics of this target model can provide a favorable basis for the detection and identification of actual underwater targets. The elastic resonance characteristics of the target are the results of the comprehensive effect of the target length, shell-thickness ratio and materials. Under the conditions of different materials and geometric dimensions, the coincidence resonance characteristics of the target have obvious differences. Aiming at this problem, this paper obtains the omni-directional acoustic scattering field of the underwater hemispherical cylindrical shell by numerical calculation and studies the influence of target geometric parameters (length, shell-thickness ratio) and material parameters on the coincidence resonance characteristics of the target in turn. The study found that the formant interval is not a stable value and changes with the incident angle. Among them, the formant interval is less affected by the target length and shell-thickness ratio and is significantly affected by the material properties, which is an effective feature for classifying and identifying targets of different materials. The quadratic polynomial is utilized to fully fit the change relationship between the formant interval and the angle. The results show that the three fitting coefficients of the stainless steel and aluminum targets are significantly different, which can be used as an effective feature parameter to characterize the target materials.

Keywords: hemispherical cylindrical shell;, fine echo characteristics;, geometric and material parameters;, formant interval

Procedia PDF Downloads 71

Authors: Nanjiang Chen

Abstract:

In the backdrop of expanding urban landscapes, accurately assessing spatial openness is critical. Traditional visibility analysis methods grapple with discretization errors and inefficiencies, creating a gap in truly capturing the human experi-ence of space. Addressing these gaps, this paper introduces a distinct continuous visibility algorithm, a leap in measuring urban spaces from a human-centric per-spective. This study presents a methodological breakthrough by applying this algorithm to urban visibility analysis. Unlike conventional approaches, this tech-nique allows for a continuous range of visibility assessment, closely mirroring hu-man visual perception. By eliminating the need for predefined subdivisions in ray casting, it offers a more accurate and efficient tool for urban planners and architects. The proposed algorithm not only reduces computational errors but also demonstrates faster processing capabilities, validated through a case study in Bei-jing's urban setting. Its key distinction lies in its potential to benefit a broad spec-trum of stakeholders, ranging from urban developers to public policymakers, aid-ing in the creation of urban spaces that prioritize visual openness and quality of life. This advancement in urban analysis methods could lead to more inclusive, comfortable, and well-integrated urban environments, enhancing the spatial experience for communities worldwide.

Keywords: visual openness, spatial continuity, ray-tracing algorithms, urban computation

Procedia PDF Downloads 7

Authors: Christoph Opperer

Abstract:

Space syntax is a theory and method for analyzing the spatial layout of buildings and urban environments to understand how they can influence patterns of human movement, social interaction, and behavior. While direct visibility is a key factor in space syntax research, important visual information such as light, color, texture, etc., are typically not considered, even though psychological studies have shown a strong correlation to the human perceptual experience within physical space – with light and color, for example, playing a crucial role in shaping the perception of spaciousness. Furthermore, these surface properties are often the visual features that are most salient and responsible for drawing attention to certain elements within the environment. This paper explores the potential of integrating these factors into general space syntax methods and visibility-based analysis of space, particularly for architectural spatial layouts. To this end, we use a combination of geometric (isovist) and topological (visibility graph) approaches together with image-based methods, allowing a comprehensive exploration of the relationship between spatial geometry, visual aesthetics, and human experience. Custom-coded ray-tracing techniques are employed to generate spherical panorama images, encoding three-dimensional spatial data in the form of two-dimensional images. These images are then processed through computer vision algorithms to generate saliency-maps, which serve as a visual representation of areas most likely to attract human attention based on their visual properties. The maps are subsequently used to weight the vertices of isovists and the visibility graph, placing greater emphasis on areas with high saliency. Compared to traditional methods, our weighted visibility analysis introduces an additional layer of information density by assigning different weights or importance levels to various aspects within the field of view. This extends general space syntax measures to provide a more nuanced understanding of visibility patterns that better reflect the dynamics of human attention and perception. Furthermore, by drawing parallels to traditional isovist and VGA analysis, our weighted approach emphasizes a crucial distinction, which has been pointed out by Ervin and Steinitz: the difference between what is possible to see and what is likely to be seen. Therefore, this paper emphasizes the importance of including surface properties in visibility-based analysis to gain deeper insights into how people interact with their surroundings and to establish a stronger connection with human attention and perception.

Keywords: space syntax, visibility analysis, isovist, visibility graph, visual features, human perception, saliency detection, raytracing, spherical images

Procedia PDF Downloads 45