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Quay mooring status of a ship has been studied by using the mooring analysis software AQWA. The anti-typhoon mooring computation under the combined wind wave and current loads was analyzed with a time domain computation method. The influence of the mooring line material and mooring layout has also been studied on mooring system tensions. According to the research, the mooring layout plan that complies...
Marine electromagnetism survey which is divided into the natural field source (MT) and artificial field source (CSEM) is one of the hot spots in the field of offshore oil and gas exploration, especially in the deep sea. Low frequency, wide band and weak electric field signal acquisition which generally uses Ag/AgCl non-polarized electrode and ultra-low noise amplifier is one of the key technologies...
For development of an intelligent unmanned autonomous underwater vehicle (AUV), sensor data needs to be processed online for navigation and mission planning. In this work, we suggest a complete workflow and a processing chain to retrieve multibeam sonar data for AUV control. Our approach is based on the well-known image processing library OpenCV which provides sophisticated image recognition algorithms...
This paper designs a plankton particle diameter measurement instrument based on laser projection, which uses laser light source to irradiate the photodiode array, and then collects plankton shape data with the shielding effect. The system reconstructs the morphological characteristics of plankton by using the time axis scanning, to complete the collection and analysis of marine plankton particle size...
This paper address the subject of application of MOOS-IvP based framework to collaborative control of multiple autonomous underwater vehicle (MAUV) system developed by groups at harbin engineering university. Firstly, AUV systems that constitute the MAUV system are briefly introduced. The heterogeneous nature of different AUV proposes a challenge for coordination of the system. Secondly, VxWorks version...
As buoyancy-driven underwater gliders which have multi-functionality become more and more important instruments of monitoring and exploring the ocean, it is momentous to research and verify the performance of hardware of glider and the function of control software by establishing mathematical model and simulation. So a semi-physical motion simulation system of buoyancy-driven underwater glider is...
This system is an underwater integrated navigation system based on Attitude Heading Reference System (AHRS)/Global Positioning System (GPS)/ Doppler Velocity Log (DVL). It is built on STM32F103 equipped with the uCOS-II system, which has perfect real-time character, low cost and high-performance. The present hardware includes singer board computer, AHRS, DVL, depth gauge, and GPS receiver. Kalman...
This paper presents a modular design scheme for miniature underwater robot used for swarm operations. Both the hardware circuit and the software structure are introduced. In this design, miniature underwater robots are composed of two kinds of modules, namely a core controller and a set of functional modules. The core controller is in charge of running the software that control the robot, while a...
This paper presents a towing tank-based experiment study on hydrodynamic coefficients on the underwater glider — Seagull. The present measurements were carried out at typical speeds of glider (0.2–0.5m/s) with varying angle of attack and slide. The measurements were used to study variation of drag, lift and pitching moment coefficients and angle of attack. The measurements have also been used to validate...
This paper presents a modular designed dynamic positioning (DP) experiment system. Three modules are designed for the DP experiment system, which are onboard computer module, position sensing module and onshore control computer module. The hardware system and software are introduced. A PC/104 computer is used as the main controller of the onboard computer system, and an ARM microcontroller is used...
This paper presents a cooperation technology perspective on cooperative artifacts within cooperative work environments in the maritime domain. The issue of cooperation technology can be seen in the design of artifacts, as much cooperation technology has been disrupted rather than supported by engineering design, an example of which is maritime technology. Maritime operation systems narrowly focus...
Swarm robotics is a promising approach characterized by large numbers of relatively small and inexpensive robots. Since such systems typically rely on decentralized control and local communication, they exhibit a number of interesting and useful properties, namely scalability, robustness to individual faults, and flexibility. In this paper, we detail the design and development process of a swarm robotics...
In this paper we propose the adoption of a self-adaptable cross-layer and modular Software Defined Communication Stack (SDCS) for Underwater Wireless Sensor Networks. The SDCS is a modular stack solution which is capable to run different protocols at each layer of the network stack; a new component, named policy engine, autonomously and adaptively, as the operational conditions vary, selects the protocol...
This paper presents a conceptual design and field test validation of a network of surface nodes providing a communication bridge between underwater sensors and Unmanned Vehicles (UV). Here we describe the combined operations of custom made low-cost buoys and Unmanned Aerial Vehicles (UAV), linked together within one network. Buoys equipped with an underwater acoustic telemetry receiver and water parameter...
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