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This work describes the development of continuous active sonar (CAS) processing at CMRE. The software uses subband processing to achieve a faster update rate than is possible with pulsed active sonar (PAS). The software development was based on CMRE's PAS processing software, CAINPro, which has been thoroughly tested during previous sea trials and in postprocessing data analysis. Computational efficiency...
In robotics, nowadays, there is a strong evergrowing interest in executing replicable experiments to assess robots performance. This demand can't be easy fulfilled without established ad-hoc procedures to be followed. To this aim, an innovative software framework named DeepRuler is proposed. The presented software is able to design, automatically execute and evaluate highly replicable path-following...
This paper presents an autonomous low cost device for underwater stereo imaging and 3D reconstruction of marine organisms (benthos, fishes, macro and mega-zooplankton) and seabed with a high accuracy. The system is designed for deployments onboard autonomous, fixed and towed platforms. Internal hardware consists of two Raspberry Pi mini-PCs and two Raspberry camera modules. The operational pipeline...
SeaModem is a low-cost underwater acoustic modem developed by AppliCon, a spin-off of the University of Calabria, for shallow water communications. In its default configuration, it operates in the 25–35 KHz frequency range and offers a wide range of selectable features including selectable 2-4-8 FSK modulation tones, error detection and correction algorithms via CRC and Viterbi, selectable power transmission...
To educate undergraduate and graduate students in the fundamentals of robotics focused engineering science, it is necessary to provide hands-on laboratory experiences that illuminate the theories and show their practical applications. Through a program of courses and real world applications it is possible to extend a students knowledge and expertise in areas of relevance and get students on the cutting...
In the framework of a bilateral Netherlands-Norway defense research cooperation (2014–2017) between The Netherlands Defence Materiel Organisation (DMO NL) and Forsvarets forskningsinstitutt (FFI NO), it has been shown that a compact general-purpose processor board developed for smartphones can be successfully used for real-time underwater communications using a state-of-the-art spread-spectrum modulation...
In the scope of the development of IFREMERs hybrid underwater vehicle named ‘HROV Ariane’, seafloor mapping with optical imagery sensors is a major function which has motivated the development of a software processing tool for semi-automatic, on-line or off-line, 2D and 3D optical mapping. We present in this paper development results for a complete software framework intending to make state-of-the-art...
This paper describes a method for evaluating the ship equilibrium point. The ship floating condition is calculated using a FEA-like method (Finite Elements Analysis) on a set of 3D meshes related to the exact 3D geometry of the ship hull and its compartments, the distribution of all weights onboard and/or a damage condition (declared by the operator) and data (automatically acquired by the system)...
In this paper, we introduce a newly developed autonomous buoy system that enables remote monitoring of an AUV. The buoy system has a dynamic positioning function and can track the target AUV. Using an acoustic data link and a radio data link, the buoy can relay the messages between the AUV and the surface monitoring system of the AUV. The first sea trial was successfully performed in October 2014.
The high-quality backscattered spectra provided by the WERA HF radar systems in the Wave Hub area are used to estimate different wave parameters at the location of a wave buoy. The HF radar estimations are done using three different wave estimation algorithms: the standard WERA software, the software provided by Actimar and the software provided by Seaview Sensing. The data obtained with each methodology...
Underwater acoustic laboratory (UAL) at National Taiwan University (NTU) was dedicated to four major research directions: development of sound propagation models, for example underwater reverberation model, research on underwater acoustic communication, research on man-made noises in the habitat of marine mammal, and development of underwater research equipment. Underwater acoustic repeater system...
This paper presents the design, implementation, and in-field experimentation of a “bilingual” underwater acoustic modem with multi-hop networking capabilities. The designed system supports the use of the JANUS physical coding scheme and of a proprietary one. JANUS is an open, simple and robust digital coding technology currently in process to become a NATO standard. The Applicon SeaModem has been...
This paper provides an overview on the software architecture used for the realization of cooperative behavior of heterogeneous marine robots. The work was performed within the European Research Project MORPH (FP7-ICT-288704) which strived for the solution to ocean mapping missions over harsh environments like vertical and overhanging cliff walls by employing a team of different unmanned marine crafts...
A key to developing autonomous maritime systems for NATO is communication among data gathering platforms below and above the water. However, unlike the mature technologies that are used for terrestrial networks, underwater communications is still in an early stage. This paper provides an overview of CMRE's activities in the field of underwater communications where emphasis has been put in addressing...
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