Search results for: underwater undulatory swimming

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

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In competitive swimming, after dives and turns, athletes perform underwater undulatory swimming (UUS), copying marine mammals’ method of locomotion. The body, performing this wave-like motion, accelerates the fluid downstream in its vicinity, generating propulsion with minimal resistance. Through this technique, swimmers can maintain greater speeds than surface swimming and take advantage of the overspeed granted by the dive (or push-off). Almost all previous work has considered UUS when performed at maximum effort. Critical parameters to maximize UUS speed are frequently discussed; however, this does not apply to most races. In only 3 out of the 16 individual competitive swimming events are athletes likely to attempt to perform UUS with the greatest speed, without thinking of the cost of locomotion. In the other cases, athletes will want to control the speed of their underwater swimming, attempting to maximise speed whilst considering energy expenditure appropriate to the duration of the event. Hence, there is a need to understand how swimmers adapt their underwater strategies to optimize the speed within the allocated energetic cost. This paper develops a consistent methodology that enables different sets of UUS kinematics to be investigated. These may have different propulsive efficiencies and force generation mechanisms (e.g.: force distribution along with the body and force magnitude). The developed methodology, therefore, needs to: (i) provide an understanding of the UUS propulsive mechanisms at different speeds, (ii) investigate the key performance parameters when UUS is not performed solely for maximizing speed; (iii) consistently determine the propulsive efficiency of a UUS technique. The methodology is separated into two distinct parts: kinematic data acquisition and computational fluid dynamics (CFD) analysis. For the kinematic acquisition, the position of several joints along the body and their sequencing were either obtained by video digitization or by underwater motion capture (Qualisys system). During data acquisition, the swimmers were asked to perform UUS at a constant depth in a prone position (facing the bottom of the pool) at different speeds: maximum effort, 100m pace, 200m pace and 400m pace. The kinematic data were input to a CFD algorithm employing a two-dimensional Large Eddy Simulation (LES). The algorithm adopted was specifically developed in order to perform quick unsteady simulations of deforming bodies and is therefore suitable for swimmers performing UUS. Despite its approximations, the algorithm is applied such that simulations are performed with the inflow velocity updated at every time step. It also enables calculations of the resistive forces (total and applied to each segment) and the power input of the modeled swimmer. Validation of the methodology is achieved by comparing the data obtained from the computations with the original data (e.g.: sustained swimming speed). This method is applied to the different kinematic datasets and provides data on swimmers’ natural responses to pacing instructions. The results show how kinematics affect force generation mechanisms and hence how the propulsive efficiency of UUS varies for different race strategies.

Keywords: CFD, efficiency, human swimming, hydrodynamics, underwater undulatory swimming

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Authors: Lessly Borja, Anthony Gualli, Kelly Baño, Fabricio Santacruz

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In this article, a prototype of underwater communication using a long-range laser (50mW) has been carried out in two aquatic scenarios (fish tank and swimming pool) with the aim of recreating Aqua-Fi technology (the future of underwater communications) using a Bluetooth connection to the transmitter to send data in ASCII code by means of light. Initially, the transmitter and receiver circuits were programmed in Arduino so that the data would travel by light pulses in the aforementioned code. To obtain the results of the underwater communication, two scenarios were chosen (fish tank and swimming pool), where the power value of the received signal was calculated from its peak-to-peak voltage using the Oscilloscope equipment (ESPOCH). Finally, it was concluded that the maximum communication range of this prototype is 12m underwater, and it was observed that the power decreases as the distance increases. However, this prototype still needs to improve communication so that the information is not distorted or lost when there is movement and dispersion of the water. It is hoped that it will form the basis for future research.

Keywords: prototype, underwater, communication, power, voltage, distance

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Authors: Snehal G. Teli, R. J. Shelke

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CNN and MultiUNet models are the framework for the proposed method for enhancing and reconstructing underwater images. Multiscale merging of features and regeneration are both performed by the MultiUNet. CNN collects relevant features. Extensive tests on benchmark datasets show that the proposed strategy performs better than the latest methods. As a result of this work, underwater images can be represented and interpreted in a number of underwater applications with greater clarity. This strategy will advance underwater exploration and marine research by enhancing real-time underwater image processing systems, underwater robotic vision, and underwater surveillance.

Keywords: convolutional neural network, image enhancement, machine learning, multiunet, underwater images

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Authors: Riku Hayashida, Tomoaki Hashimoto

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This paper provides a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. Underwater robots are expected to be used for various work assignments. The large variety of applications of underwater robots motivates researchers to develop control systems and technologies for underwater robots. Several control methods have been proposed so far for the stabilization of nominal system model of underwater robots with no parameter uncertainty. Parameter uncertainties are considered to be obstacles in implementation of the such nominal control methods for underwater robots. The objective of this study is to establish a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: robust control, stabilization method, underwater robot, parameter uncertainty

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Authors: Sumit Kumar, Sunil Kumar, Chandan Deep Singh

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This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the underwater robot is analyzed, which is the main focus of this investigation. The control of robot trajectory is not discussed in this paper. Simulation is performed using Symbol Shakti software.

Keywords: bond graph modeling, dynamics. modeling, rayleigh beam, underwater robot

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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

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Authors: Seyed Mahdi Jameii

Abstract:

Underwater wireless sensor networks have been attracting the interest of many ‎researchers lately, and the past three decades have beheld the rapid progress of ‎underwater acoustic communication. One of the major problems in underwater wireless ‎sensor networks is how to transfer data from the moving node to the base stations and ‎choose the optimized route for data transmission. Secure routing in underwater ‎wireless sensor network (UWCNs) is necessary for packet delivery. Some routing ‎protocols are proposed for underwater wireless sensor networks. However, a few ‎researches have been done on secure routing in underwater sensor networks. In this ‎article, a secure routing protocol is provided to resist against wormhole and sybil ‎attacks. The results indicated acceptable performance in terms of increasing the packet ‎delivery ratio with regards to the attacks, increasing network lifetime by creating ‎balance in the network energy consumption, high detection rates against the attacks, ‎and low-end to end delay.‎

Keywords: attacks, routing, security, underwater wireless sensor networks

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Authors: Xavi Vilajosana Guillen, Emilio José Pérez Salgado

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This document presents experimental results obtained in a realistic environment using an underwater LoRa link. It aims to analyze the behavior of electromagnetic waves underwater and determine this communication capability. With this it has been tried to empirically evaluate the results obtained in the mathematical model using a commercial device with low cost and low consumption that works at frequency 433Mhz. The mathematical results obtained for wireless communication at 433Mhz underwater indicate that a communication of up to 7.5 m is possible, however experimentally 8 m has been achieved.

Keywords: 433Mhz link, internet of things, LoRa link, underwater communication

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Authors: Ouafa Benaida, Abdelhamid Loukil, Adda Ali Pacha

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In recent years, the growing interest of scientists in the field of image processing and analysis of underwater images and videos has been strengthened following the emergence of new underwater exploration techniques, such as the emergence of autonomous underwater vehicles and the use of underwater image sensors facilitating the exploration of underwater mineral resources as well as the search for new species of aquatic life by biologists. Indeed, underwater images and videos have several defects and must be preprocessed before their analysis. Underwater landscapes are usually darkened due to the interaction of light with the marine environment: light is absorbed as it travels through deep waters depending on its wavelength. Additionally, light does not follow a linear direction but is scattered due to its interaction with microparticles in water, resulting in low contrast, low brightness, color distortion, and restricted visibility. The improvement of the underwater image is, therefore, more than necessary in order to facilitate its analysis. The research presented in this paper aims to implement and evaluate a set of classical techniques used in the field of improving the quality of underwater images in several color representation spaces. These methods have the particularity of being simple to implement and do not require prior knowledge of the physical model at the origin of the degradation.

Keywords: underwater image enhancement, histogram normalization, histogram equalization, contrast limited adaptive histogram equalization, single-scale retinex

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Authors: Niels Grataloup, Micael S. Couceiro, Manousos Valyrakis, Javier Escudero, Patricia A. Vargas

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This paper benchmarks the possible underwater communication technologies that can be integrated into a swarm of underwater robots by proposing an underwater robot simulator named CORSICA (Cross platfORm wireleSs communICation simulator). Underwater exploration relies increasingly on the use of mobile robots, called Autonomous Underwater Vehicles (AUVs). These robots are able to reach goals in harsh underwater environments without resorting to human divers. The introduction of swarm robotics in these scenarios would facilitate the accomplishment of complex tasks with lower costs. However, swarm robotics requires implementation of communication systems to be operational and have a non-deterministic behaviour. Inter-robot communication is one of the key challenges in swarm robotics, especially in underwater scenarios, as communication must cope with severe restrictions and perturbations. This paper starts by presenting a list of the underwater propagation models of acoustic and electromagnetic waves, it also reviews existing transmitters embedded in current robots and simulators. It then proposes CORSICA, which allows validating the choices in terms of protocol and communication strategies, whether they are robot-robot or human-robot interactions. This paper finishes with a presentation of possible integration according to the literature review, and the potential to get CORSICA at an industrial level.

Keywords: underwater simulator, robot-robot underwater communication, swarm robotics, transceiver and communication models

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Authors: Catrin Morgan, Atholl Johnston

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Creatine supplementation should theoretically increase total muscle creatine and so enhance the generation of intramuscular phosphocreatine and subsequent ATP formation. The use of creatine as a potential ergogenic aid in sport has been an area of significant scientific research for a number of years. However the effect of creatine supplementation and swimming performance is a relatively new area of research and is the subject of this review. In swimming creatine supplementation could help maintain maximal power output, aid recovery and increase lean body mass. After investigating the underlying theory and science behind creatine supplementation, a literature review was conducted to identify the best evidence looking at the effect of creatine supplementation on swimming performance. The search identified 27 potential studies, and of these 17 were selected for review. The studies were then categorised into single sprint performance, which involves swimming a short distance race, or repeated interval performance, which involves swimming a series of sprints with intervals of rest between them. None of the studies on the effect of creatine controlled for the multiple confounding factors associated with measurement of swimming performance. The sample size in the studies was limited and this reduced the reliability of the studies and introduced the possibility of bias. The studies reviewed provided insufficient evidence to determine if creatine supplementation is beneficial to swimming performance. However, what data there was supported the use of creatine supplementation in repeated interval swimming rather than in single sprint swimming. From a review of the studies, it was calculated on average, there was a 1.37% increase in swimming performance with the use of creatine for repeated intervals and a 0.86% increase in performance for single sprint. While this may seem minor, it should be remembered that swimming races are often won by much smaller margins. In the 2012 London Olympics the Men’s 100 metres freestyle race was won by a margin of only 0.01 of a second. Therefore any potential benefit could make a dramatic difference to the final outcome of the race. Overall more research is warranted before the benefits of creatine supplementation in swimming performance can be further clarified.

Keywords: creatine supplementation, repeated interval, single sprint, swimming performance

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Authors: Philip Baillie, Stuart W. Campbell, Alexander M. Galloway, Stephen R. Cater, Norman A. McPherson

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This study compared the mechanical and microstructural properties produced during friction stir welding(FSW) of S275 structural steel in air and underwater. Post weld tests assessed the tensile strength, micro-hardness, distortion, Charpy impact toughness and fatigue performance in each case. The study showed that there was no significant difference in the strength, hardness or fatigue life of the air and underwater specimens. However, Charpy impact toughness was shown to decrease for the underwater specimens and was attributed to a lower degree of recrystallization caused by the higher rate of heat loss experienced when welding underwater. Reduced angular and longitudinal distortion was observed in the underwater welded plate compared to the plate welded in air.

Keywords: Charpy impact toughness, distortion, fatigue, friction stir welding(FSW), micro-hardness, underwater

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Authors: Rodrigo Pacheco-Ruiz, Jonathan Adams, Felix Pedrotti

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This paper introduces the applicability of underwater photogrammetric survey within challenging conditions as the main tool to enhance and enrich the process of documenting archaeological excavation through the creation of 4D models. Photogrammetry was being attempted on underwater archaeological sites at least as early as the 1970s’ and today the production of traditional 3D models is becoming a common practice within the discipline. Photogrammetry underwater is more often implemented to record exposed underwater archaeological remains and less so as a dynamic interpretative tool.  Therefore, it tends to be applied in bright environments and when underwater visibility is > 1m, reducing its implementation on most submerged archaeological sites in more turbid conditions. Recent years have seen significant development of better digital photographic sensors and the improvement of optical technology, ideal for darker environments. Such developments, in tandem with powerful processing computing systems, have allowed underwater photogrammetry to be used by this research as a standard recording and interpretative tool. Using multi-source photogrammetry (5, GoPro5 Hero Black cameras) this paper presents the accumulation of daily (4D) underwater surveys carried out in the Early Bronze Age (3,300 BC) to Late Ottoman (17th Century AD) archaeological site of Ropotamo in the Bulgarian Black Sea under challenging conditions (< 0.5m visibility). It proves that underwater photogrammetry can and should be used as one of the main recording methods even in low light and poor underwater conditions as a way to better understand the complexity of the underwater archaeological record.

Keywords: 4D modelling, Black Sea Maritime Archaeology Project, multi-source photogrammetry, low visibility underwater survey

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Authors: Su Tezel

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The paper deals with licensed athletes affiliated with the Turkish Underwater Sports Federation to assess the consumption status of street food. The aim of the paper is the frequency of training during competition preparatory training or season periods, the athletes' economic situation, social life, work-life or education situations are the directs them to street food? Also to evaluate the importance that athletes attach to their nutritional status. Data were collected with survey method. 141 underwater sports athletes participated in the survey. Empirical findings on 141 respondents are related to athletes' demographic information, which underwater sports branch they doing (underwater hockey, underwater rugby and free diving), with whom they live, training hours and frequency, street food consumption frequency and preferences, which type drinks they prefer drink with or without street foods and other similar things. Most of the athletes were male (64.5%), female (35.5%) and the most athletes from the sports branches included in the survey belong to underwater hockey (95.7%). 93.7% of athletes have a training time between 08:00 pm to 00:00 am and the frequency of consuming street food after training is 88%. As a remarkable result, 48% of the reasons for consuming street food easy access to street foods after training. Statistical analyzes were made with the data obtained and the status of street food consumption of athletes, whether they were suitable for professional athlete nutrition and their attitudes were evaluated.

Keywords: nutrition, street foods, underwater hockey, underwater sport

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Authors: Kadri Koçer, Sezer Kefeli

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This paper proposes a comparison of hydrodynamic performance and stability characteristic for an underwater vehicle which has two type of tail design, namely X and +tail-body configurations. The effects of these configurations on the underwater vehicle’s hydrodynamic performance and maneuvering characteristic will be investigated comprehensively. Hydrodynamic damping coefficients for modeling the motion of the underwater vehicles will be predicted. Additionally, forces and moments due to control surfaces will be compared using computational fluid dynamics methods. In the aviation, the X tail-body configuration is widely used for high maneuverability requirements. However, in the underwater, the + tail-body configuration is more commonly used than the X tail-body configuration for its stability characteristics. Thus it is important to see the effect and differences of the tail designs in the underwater world. For CFD analysis, the incompressible, three-dimensional, and steady Navier-Stokes equations will be used to simulate the flows. Also, k-ε Realizable turbulence model with enhanced wall treatment will be taken. Numerical results is verified with experimental results for verification. The overall goal of this study is to present the advantages and disadvantages of hydrodynamic performance and stability characteristic for X and + tail-body configurations of the underwater vehicle.

Keywords: maneuverability, stability, CFD, tail configuration, hydrodynamic design

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Authors: Soheil Arash Moghadam, Abdol R. Kashani Nia, Ali Akrami Zade

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Considering numerous applications of Autonomous Underwater Vehicles in various industries, there has been plenty of researches and studies on the motion control of such vehicles. One of the useful aspects for studying is the guidance of these vehicles. In this paper, while presenting motion equations with six degrees of freedom for Autonomous Underwater Vehicles, Proportional Navigation Guidance Law and the first order sliding mode control for TAIPAN AUV was used to address its guidance for the purpose of collision with a moving target.

Keywords: Autonomous Underwater Vehicle (AUV), degree of freedom (DOF), hydrodynamic, line of sight(LOS), proportional navigation guidance(PNG), sliding mode control(SMC)

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Authors: Simiao Ren, En Wei

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Drowning is a significant safety issue worldwide, and a robust computer vision-based alert system can easily prevent such tragedies in swimming pools. However, due to domain shift caused by the visual gap (potentially due to lighting, indoor scene change, pool floor color etc.) between the training swimming pool and the test swimming pool, the robustness of such algorithms has been questionable. The annotation cost for labeling each new swimming pool is too expensive for mass adoption of such a technique. To address this issue, we propose a domain-aware data augmentation pipeline based on Gaussian Poisson Generative Adversarial Network (GP-GAN). Combined with YOLOv8, we demonstrate that such a domain adaptation technique can significantly improve the model performance (from 0.24 mAP to 0.82 mAP) on new test scenes. As the augmentation method only require background imagery from the new domain (no annotation needed), we believe this is a promising, practical route for preventing swimming pool drowning.

Keywords: computer vision, deep learning, YOLOv8, detection, swimming pool, drowning, domain adaptation, generative adversarial network, GAN, GP-GAN

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Authors: M. Vimal Raj, S. Sakthivel Murugan

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Underwater images degrade their quality due to atmospheric conditions. One of the major problems in an underwater image is motion blur caused by the imaging device or the movement of the object. In order to rectify that in post-imaging, parameters of the blurred image are to be estimated. So, the point spread function is estimated by the properties, using the spectrum of the image. To improve the estimation accuracy of the parameters, Optimized Polynomial Lagrange Interpolation (OPLI) method is implemented after the angle and length measurement of motion-blurred images. Initially, the data were collected from real-time environments in Chennai and processed. The proposed OPLI method shows better accuracy than the existing classical Cepstral, Hough, and Radon transform estimation methods for underwater images.

Keywords: image restoration, motion blur, parameter estimation, radon transform, underwater

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Authors: Youngseok Kim, Chul Park, Jonghwa Yi, Sangsik Choi

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The 2-MHz Side Scan SONAR (SSS) attached to the boat for inspection of underwater structures is affected by shaking. It is difficult to determine the exact scale of damage of structure. In this study, a motion sensor is attached to the inside of the 2-MHz SSS to get roll, pitch, and yaw direction data, and developed the image stabilization tool to correct the sonar image. We checked that reliable data can be obtained with an average error rate of 1.99% between the measured value and the actual distance through experiment. It is possible to get the accurate sonar data to inspect damage in underwater structure.

Keywords: image stabilization, motion sensor, safety inspection, sonar image, underwater structure

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Authors: Chul Park, Youngseok Kim, Sangsik Choi

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This study developed an electric jig for underwater structure inspection in order to solve the problem of the application of side scan sonar to underwater inspection, and analyzed correlations of empirical data in order to enhance sonar data resolution. For the application of tow-typed sonar to underwater structure inspection, an electric jig was developed. In fact, it was difficult to inspect a cross-section at the time of inspection with tow-typed equipment. With the development of the electric jig for underwater structure inspection, it was possible to shorten an inspection time over 20%, compared to conventional tow-typed side scan sonar, and to inspect a proper cross-section through accurate angle control. The indoor test conducted to enhance sonar data resolution proved that a water depth, the distance from an underwater structure, and a filming angle influenced a resolution and data quality. Based on the data accumulated through field experience, multiple regression analysis was conducted on correlations between three variables. As a result, the relational equation of sonar operation according to a water depth was drawn.

Keywords: underwater structure, SONAR, safety inspection, resolution

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Authors: S. Naveen, V. Sivasubramanian

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A modeling theory is proposed to consider the vaporization of LNG during its contact with water following its release from an underwater source. The spillage of LNG underwater can lead to a decrease in the surface temperature of water and subsequent freezing. This can in turn affect the heat flux distribution from the released LNG onto the water surrounding it. The available models predict the rate of vaporization considering the surface of contact as a solid wall, and considering the entire phenomena as a solid-liquid operation. This assumption greatly under-predicted the overall heat transfer on LNG water interface. The vaporization flux would first decrease during the film boiling, followed by an increase during the transition boiling and a steady decrease during the nucleate boiling. A superheat theory is introduced to enhance the accuracy in the prediction of the heat transfer between LNG and water. The work suggests that considering the superheat theory can greatly enhance the prediction of LNG vaporization on underwater releases and also help improve the study of overall thermodynamics.

Keywords: evaporation rate, heat transfer, LNG vaporization, underwater LNG release

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Authors: Seyed Mohsen Jameii

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Wireless underwater sensor networks are a type of sensor networks that are located in underwater environments and linked together by acoustic waves. The application of these kinds of network includes monitoring of pollutants (chemical, biological, and nuclear), oil fields detection, prediction of the likelihood of a tsunami in coastal areas, the use of wireless sensor nodes to monitor the passing submarines, and determination of appropriate locations for anchoring ships. This paper proposes a boundary coverage algorithm for intrusion detection in underwater sensor networks. In the first phase of the proposed algorithm, optimal deployment of nodes is done in the water. In the second phase, after the employment of nodes at the proper depth, clustering is executed to reduce the exchanges of messages between the sensors. In the third phase, the algorithm of "divide and conquer" is used to save energy and increase network efficiency. The simulation results demonstrate the efficiency of the proposed algorithm.

Keywords: boundary coverage, clustering, divide and ‎conquer, underwater sensor nodes

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Authors: Gabriel Chenevert, Abhilash Arora, Zeljko Pantic

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The major problem underwater acoustic communication faces is the low data rate due to low signal frequency. By contrast, the Wi-Fi communication protocol offers high throughput but limited operating range due to the attenuation effect of the sea and ocean medium. However, short-range near-field underwater wireless power transfer systems offer an environment where Wi-Fi communication can be effectively integrated to collect data and deliver instructions to sensors in underwater sensor networks. In this paper, low-power, low-cost off-the-shelf Wi-Fi modules are explored experimentally for four selected parameters for different distances between units and water salinities. The results reveal a shorter operating range and stronger dependence on water salinity than reported so far for high-end Wi-Fi modules.

Keywords: Wi-Fi, wireless power transfer, underwater communications, ESP

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Authors: Zhang Jun, Zhai Shucheng, Bai Yaqiang, Zhang Guoping

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The Gymnarchus Niioticus fish(GNF) cruises generally with high efficiency by undulating ribbon-fin propulsion while keeping its body for straight line. The swing amplitude of GNF fins is usually in 60° to 90°, and in normal state the amplitude is close to 90°, only in the control of hovering or swimming at very low speed, the amplitude is smaller (about 60°). It provides inspiration for underwater robot design. In the paper, the unsteady flow of undulating ribbon-fin propulsion is numerical simulated by the dynamic grid technique including spring-based smoothing model and local grid remeshing to adapt to the fin surface significantly deforming, and the swing amplitude of fin ray reaches 850. The numerical simulation method is validated by thrust experiments. The spatial vortex structure and its evolution with phase angle is analyzed. The propulsion mechanism is investigated by comprehensive analysis of the hydrodynamics, vortex structure, and pressure distribution on the fin surface. The numerical results indicates that there are mainly three kinds of vortexes, i.e. streamwise vortex, crescent vortex and toroidal vortex. The intensity of streamwise vortex is the strongest among all kinds of vortexes. Streamwise vortexes and crescent vortexes all alternately distribute on the two sides of mid-sagittal plane. Inside the crescent vortexes is high-speed flow, while outside is low-speed flow. The crescent vortexes mainly induce high-speed axial jet, which produces the primary thrust. This is hydrodynamic mechanism undulating ribbon-fin propulsion. The streamwise vortexes mainly induce the vertical jet, which generates the primary heave force. The effect on hydrodynamics of main geometry and movement parameters including wave length, amplitude and advanced coefficients is investigated. A bionic underwater robot with bilateral undulating ribbon-fins is designed, and its navigation performance and maneuverability are measured.

Keywords: bionic propulsion, mobile robot, underwater robot, undulating ribbon-fins

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Authors: Seunghee Park, Junkyeong Kim, Eun-Seok Shin, Sang-Hun Han

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In this study, two kinds of nondestructive evaluation (NDE) techniques (rebound hardness and ultrasonic pulse velocity methods) are investigated for the effective maintenance of underwater concrete structures. A new methodology to estimate the underwater concrete strengths more effectively, named “artificial neural network (ANN) – based concrete strength estimation with the combination of rebound hardness and ultrasonic pulse velocity methods” is proposed and verified throughout a series of experimental works.

Keywords: underwater concrete, rebound hardness, Schmidt hammer, ultrasonic pulse velocity, ultrasonic sensor, artificial neural networks, ANN

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Authors: Fahad Alamoudi, Yaser Miaji, Fawzy Jalalah

Abstract:

The growing popularity of swimming pools and other activities in the water for sport, fitness, therapy or just enjoyable relaxation have led to the increased use of swimming pools and the establishment of a variety of specific-use pools such as spa pools, Waterslides and more recently, hydrotherapy and wave pools. In this research a few simple equipments are used for test, Detect and alert for detection of water cleanness and pollution. YSI Photometer Systems, TDSTestr High model, rio 12HF, and Electrode A1. The researchers used electrolysis as a method of separating bonded elements and compounds by passing an electric current through them. The results which use 41 experiments show the higher the salt concentration, the more efficient the electrode and the smaller the gap between the plates and The lower the electrode voltage. Furthermore, it is proved that the larger the surface area, the lower the cell voltage and the higher current used the more chlorine produced.

Keywords: photometer, electrode, electrolysis, swimming pool chlorination

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Authors: Yadpiroon Onmek, Jean Triboulet, Sebastien Druon, Bruno Jouvencel

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The objective of this paper is to develop the 3D underwater reconstruction of archaeology object, which is based on the fusion between a sonar system and stereo camera system. The underwater images are obtained from a calibrated camera system. The multiples image pairs are input, and we first solve the problem of image processing by applying the well-known filter, therefore to improve the quality of underwater images. The features of interest between image pairs are selected by well-known methods: a FAST detector and FLANN descriptor. Subsequently, the RANSAC method is applied to reject outlier points. The putative inliers are matched by triangulation to produce the local sparse point clouds in 3D space, using a pinhole camera model and Euclidean distance estimation. The SFM technique is used to carry out the global sparse point clouds. Finally, the ICP method is used to fusion the sonar information with the stereo model. The final 3D models have a précised by measurement comparing with the real object.

Keywords: 3D reconstruction, archaeology, fusion, stereo system, sonar system, underwater

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Authors: Isaac Laryea

Abstract:

Underwater remote-operated vehicles (ROVs) are highly useful in aquatic research and underwater operations. Unfortunately, unsteady and unpredictable conditions underwater make it difficult for underwater vehicles to maintain a steady attitude during motion. Existing underwater vehicles make use of multiple thrusters positioned at specific positions on their frame to maintain a certain pose. This study proposes an alternate way of maintaining a steady attitude during horizontal motion at low speeds by making use of a thrust vector-controlled propulsion system. The study began by carrying out some preliminary calculations to get an idea of a suitable shape and form factor. Flow simulations were carried out to ensure that enough thrust could be generated to move the system. Using the Lagrangian approach, a mathematical system was developed for the ROV, and this model was used to design a control system. A PID controller was selected for the control system. However, after tuning, it was realized that a PD controller satisfied the design specifications. The designed control system produced an overshoot of 6.72%, with a settling time of 0.192s. To achieve the effect of thrust vectoring, an inverse kinematics synthesis was carried out to determine what angle the actuators need to move to. After building the system, intermittent angular displacements of 10°, 15°, and 20° were given during bench testing, and the response of the control system as well as the servo motor angle was plotted. The final design was able to move in water but was not able to handle large angular displacements as a result of the small angle approximation used in the mathematical model.

Keywords: PID control, thrust vectoring, parallel manipulators, ROV, underwater, attitude control

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Authors: Wisal Alrabadi

Abstract:

The study's goal was to see how the use of water wireless Aqua Com System and its accompanying music affected the Female Swimming Team at the Faculty of Physical Education's development of dolphin kick movements. To that end, a training program consisting of (12) training units spread out over four weeks, three units per week, was created and applied to a study sample of (10) students from the swimming pool enrolled in the first semester of the academic year 2022. Pre-measuring and timing the movements of dolphins kicking with and without fins above and below, measuring the water's surface over a distance of 25 meters. The results showed that there are statistically significant differences in favor of telemetry from the start within the limits of the area specified for a distance of 15 m after the comparison between the pre and post-measurement using the test (T) of the double samples, and this indicates the impact of the training program using the Aqua Com System in the swimming team(Female) at Faculty of Physical Education, and in light of this a set of recommendations was developed.

Keywords: aqua com system training program, accompanying music, dolphin kick movements, swimming team female

Procedia PDF Downloads 155

Authors: Nga-Wun Li, Chu-Po Ho, Kit-Lun Yick, Jin-Yun Zhou

Abstract:

The use of buoyant vests incorporated with swimsuits can develop children’s confidence in the water, particularly for novice swimmers. Consequently, parents intend to purchase buoyant swimming vests for the children to reduce their anxiety to water. Although the conventional buoyant swimming vests can provide the buoyant function to the wearer, their bulkiness and hardness make children feel uncomfortable and not willing to wear. This study aimed to apply inlay knitting technology to design new functional buoyant swimming vests for children. This prototype involved a shell and a buoyant knitted layer, which is the main media to provide buoyancy. Polypropylene yarn and 6.4 mm of Expandable Polyethylene (EPE) foam were fabricated in Full needle stitch with inlay knitting technology and were then linked by sewing to form the buoyant layer. The shell of the knitted buoyant vest was made of Polypropylene circular knitted fabric. The structure of knitted fabrics of the buoyant swimsuit makes them inherently stretchable, and the arrangement of the inlaid material was designed based on the body movement that can improve the ease with which the swimmer moves. Further, the shoulder seam is designed at the back to minimize the irritation of the wearer. Apart from maintaining the buoyant function to them, this prototype shows its contribution in reducing bulkiness and improving softness to the conventional buoyant swimming vest by taking the advantages of a knitted garment. The results in this study are significant to the development of the buoyant swimming vest for both the textile and the fast-growing sportswear industry.

Keywords: knitting technology, buoyancy, inlay, swimming vest, functional garment

Procedia PDF Downloads 112