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Xu, Chunying, Jiawang Chen, Dongxu Yan, and Jian Ji. "Review of Underwater Cable Shape Detection." Journal of Atmospheric and Oceanic Technology 33, no. 3 (March 2016): 597–606. http://dx.doi.org/10.1175/jtech-d-15-0112.1.
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AbstractUnderwater cables play vital roles in marine engineering because they provide power and communication connections from the shore to an increasing number of sea installations. To ensure the system is operating reliably and continuously, it is necessary to detect the shapes of underwater cables in real time. However, this task is difficult to accomplish because the underwater cables are located in a dynamic and complicated subsea environment, which can cause changes in position, depth, and visibility.In this report, the current development of underwater cable shape detection methods, including visual, acoustic, magnetic detection, and multisensor fusion detection, and the advantages and disadvantages are described and analyzed. Furthermore, the disadvantages of these methods are addressed, which, based on survey platforms with high cost, include a long detection period and the failure to reveal emergencies. Then, the need to construct a simple and reliable system to detect the shapes of underwater cables is highlighted, and one possible solution based on bend sensors embedded in underwater cables is discussed.
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Thum, Guan Wei, Sai Hong Tang, Siti Azfanizam Ahmad, and Moath Alrifaey. "Toward a Highly Accurate Classification of Underwater Cable Images via Deep Convolutional Neural Network." Journal of Marine Science and Engineering 8, no. 11 (November 16, 2020): 924. http://dx.doi.org/10.3390/jmse8110924.
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Underwater cables or pipelines are commonly utilized elements in ocean research, marine engineering, power transmission, and communication-based activities. Their performance necessitates regularly conducted inspection for maintenance purposes. A vision system is commonly used by autonomous underwater vehicles (AUVs) to track and search for underwater cable. Its traditional methods are characteristically applicable in AUVs, wherein they are equipped with handcrafted features and shallow trainable architectures. However, such methods are subpar or even incapable of tracking underwater cable in fast-changing and complex underwater conditions. In contrast to this, the deep learning method is linked with the capacity to learn semantic, high-level, and deeper features, thus rendering it recommended for performing underwater cable tracking. In this study, several deep Convolutional Neural Network (CNN) models were proposed to classify underwater cable images obtained from a set of underwater images, whereby transfer learning and data augmentation were applied to enhance the classification accuracy. Following a comparison and discussion regarding the performance of these models, MobileNetV2 outperformed among other models and yielded lower computational time and the highest accuracy for classifying underwater cable images at 93.5%. Hence, the main contribution of this study is geared toward developing a deep learning method for underwater cable image classification.
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Gopalakrishnan, Manoj, Eldho Jacob, and Sona Kundukulam. "Relay based Coupling Scheme of High Speed Communication data, High voltage DC And High Power Pulsed AC for Coaxial Cable." Defence Science Journal 68, no. 5 (September 12, 2018): 487–93. http://dx.doi.org/10.14429/dsj.68.11907.
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Coaxial cable telemetry is most commonly used in the field of underwater applications like data logging in oil rigs, underwater wireless modem, underwater acoustic measurements, borehole measurements, deep sea telemetry for sediment analysis, airborne sonars, imaging sonars etc. In all the above applications coaxial multicore cables are used. The design and development of relay based coupling scheme which helps to replace the multi core cable with a single core coaxial cable for telemetry application is described. Single core cable is suitable for long distance data communication. Multi core cables are generally heavy and due to the size, may not meet space constraints in complex systems. They are not economical too. The relay based coupling scheme is used to mix or separate the high speed bi-directional communication data, high voltage DC and high power pulsed AC. In single relay scheme one relay is used to switch the centre core of single core coaxial cable. Here the ground is common for both high power AC transmission and high speed bi-directional data path. A dual relay scheme is discussed where two relays are used to switch both the centre core and ground of the single core coaxial cable. This provides more ground isolation and can avoid ground lifting issues while high power AC transmission occurs. The simulation of the coupling scheme was done using PSpice®. A prototype of the coupling scheme was also made for analysis. Filter responses were analysed for each coupling path. The DC coupling filter has 85 Hz cut-off frequency at -3 dB. The cut-off frequency of high speed data coupler is 500 KHz at -3 dB. A 4.3KV peak to peak of 3 KHz and 7 KHz AC signals were transmitted and measurements were taken to analyse the effect of high voltage over different coupling paths. The 3 KHz signal has a peak of 61.88 dB and that of 7 KHz signal, the peak is 62.50 dB. The signal components of 3 KHz signal in the DC path has a voltage level of 9.375 dB and that of 7 KHz signal is 25.63 dB.
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Керестень, И. А., И. А. Попов, and М. В. Ховайко. "Numerical simulation of underwater cable laying with account of non-uniform hydrostatic force at Arctic basin condition." MORSKIE INTELLEKTUAL`NYE TEHNOLOGII), no. 3(53) (August 27, 2021): 267–73. http://dx.doi.org/10.37220/mit.2021.53.3.032.
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Статья посвящена моделированию динамического равновесия установившегося движения протяженной кабельной линии с учетом действия гидродинамических сил сопротивления и неоднородной гидростатической силы. Учитывая различные условия и глубины укладки, а также требования функционального назначения и защиты от враждебных факторов морского дна, необходимо рассмотреть широкий диапазон кабелей с различными механическими характеристиками: трехжильный кабель с одиночным бронированием 2XS2YRAA, одножильный кабель с одиночным бронированием ZS-YJQ41 и одножильный кабель с двойным бронированием – аналог GASLMLTV. Целью работы является развитие цифровой технологии по моделированию укладки подводных коммуникационных и силовых кабелей, позволяющей учитывать многочисленные физико-механические явления, имеющие место при проведении реальных морских работ. Для достижения поставленной цели работы используется программная среда Matlab Math Works с использованием разработанного комплекса программ для инженерной оценки формы и натяжения провисающего участка кабеля. Научная новизна состоит в апробации модели подводной укладки кабеля, учитывающей действие неоднородной гидростатической силы. Результаты моделирования представлены в виде формы и натяжения провисающей части кабеля при различных углах схода кабеля с движущегося судна при различных механических параметрах кабелей. Практическое значение работы состоит в повышении эффективности освоения перспективных месторождений, путем определения характеристик укладки кабеля в условиях Арктического бассейна: газовое месторождение Лудловское, газоконденсатное месторождение Ленинградское, нефтяное месторождение Медынское-море. This article studies the numerical simulation of underwater steady motion of the cable line with account of hydrodynamic water resistance forces and non-uniform hydrostatic force. It is necessary to consider distinctive types of cables due to various depths, laying conditions, functional requirements and protection requirements against adverse factors of seabed. Three-core single armoured cable 2XS2YRAA, one-core single armoured cable ZS-YJQ41 and one-core double armoured cable – analogue GASLMLTV are considered in this article. The aim of the research consists in digital technology development for underwater cable laying modeling, which allows taking into account numerous physical and mechanical features. These features occur during real marine operations for communication and power cables. Programming and numeric computing platform Matlab Math Works with developed software package is chosen as the research method. Simulation results are presented in dimensionless form for cable shape and tension for engineering purposes. The novelty of the work consists in approbation of underwater cable laying analytical model considering non-uniform hydrostatic force. Simulation results are presented for underwater cable laying during reeling from spool mounted on the vessel, moving with constant speed for distinctive types of cables. The influence of the cable run-off angle on the investigated characteristics was also considered. The practical value of the research consists in increasing of efficiency of exploration of oil, gas and condensate fields by determining underwater cable laying characteristics for perspective fields. At the end of the paper, the results of estimation of the shape and tension of the cable being laid undersea were presented for several fields at Arctic basin condition: gas field Ludlovskoe, condensate field Leningradskoe and oil field Medinskoe sea.
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Northcutt, Jay G., Art A. Kleiner, Thomas S. Chance, and Joe Lee. "Cable Route Surveys Utilizing Autonomous Underwater Vehicles (AUVs)." Marine Technology Society Journal 34, no. 3 (January 1, 2000): 11–16. http://dx.doi.org/10.4031/mtsj.34.3.3.
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Detailed geophysical surveys are required in both deep and shallow water to avoid potential hazards and to provide for the installation and safety of fiber optic telecommunication cables. Unfortunately, data obtained in potential burial zones with existing technology are slow and often data accuracy may be questionable. Towing cabled or tethered survey systems, from a project perspective, is time consuming and provides marginally adequate data. Additionally, a launch is usually required to survey between the surf and the safe working limits of the survey ship. This requires additional equipment that is weather sensitive and subject to failure.To address this problem, C & C Technologies, Inc. of Lafayette, Louisiana, USA has contracted with Kongsberg Simrad for the construction of a Hugin 3000 autonomous underwater vehicle (AUV). C & C Technologies’ Hugin 3000 AUV, which is to be delivered in July of 2000, will be integrated with a variety of sensors including high frequency multibeam swath bathymetry and imagery. Other survey sensors include chirp side scan sonar, chirp sub-bottom profiler, and magnetometer. Vehicle positioning will be provided by a USBL acoustic positioning system, integrated with Doppler speed log, an inertial navigation system, and for surface operations, DGPS. AUV power will be delivered by aluminum oxygen fuel cells.This paper will address AUV operations, platform performance, sensor specifications and integration, project milestones, and system economics with regards to cable route surveys.
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Briskin, E. S., and V. N. Platonov. "On Math Modeling of Solid Body’s Motion Control with an Excess Number of Rope Propulsion Devices." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 7 (July 4, 2019): 422–27. http://dx.doi.org/10.17587/mau.20.422-427.
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A design scheme and a mathematical model of the dynamics of the translational motion of a solid body, which simulate the movement of an underwater platform using anchor-cable propulsion devices, are proposed, and examples of the use of such platforms during the mining and exploration of new hydrocarbon deposits on the continental shelf are given. A diagram of the underwater platform with anchor-cable propulsion devices, as well as the method of its movement. The peculiarity of the mathematical model of the process of moving a platform with this type of propulsion devices is in the dependence of the developed efforts on the position of the cables relative to the moving body and the excess of the number of control actions over the number of degrees of freedom of the mechanical system. The mathematical model describing the movement of the platform is based on geometric equations with simultaneous operation of propulsion drives on the one hand, and on the equation of the dynamics of the translational motion of the body on the other. It is shown that the task of the control system in this process is to provide the necessary balance of forces in the cables going to the propulsion anchor. As drives, DC motors and stepper motors are considered due to their ability to operate from an independent power source, such as batteries. The features of control of DC motors and stepper motors as part of anchor-cable drives drives are established. To resolve dynamic uncertainty, the necessity of introducing an additional equation into a mathematical model has been proved. In accordance with the developed mathematical model, the laws of changes in time of control actions are obtained, in particular, such as the voltage applied to the armatures of DC motors and the switching frequency of the windings when using stepping motors. A method for controlling the movement of a solid body under the influence of two drives has been developed. It can be used to study the translational movement of an underwater platform with anchor-cable propulsion devices. The features of control of DC motors and stepper motors are considered to change the length of cable drives according to a given law.
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Lee, Hsien Hua. "Performance of a Covering Pipe for the Protection of Underwater Cable Subjected to on-Site Impact Loadings." Applied Mechanics and Materials 82 (July 2011): 810–15. http://dx.doi.org/10.4028/www.scientific.net/amm.82.810.
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In this study, a protection-pipe system has been developed for the protection of undersea electricity cable layout along shoreline with medium deep water. The protection pipes are made of cast-iron alloys while the dimensions are designed corresponding to the balk diameter of electricity cables. The water depth of the area with cable layout is ranged from several meters to a hundred meters, where berthing anchoring from commercial ships and towing operation from fishing boats are constantly found. Therefore, to make sure that the protection pipe can work dependably against the loadings mainly from the operation as was mentioned, both analytical analysis and experimental tests were carried out. In the experimental studies, the full-scale model of several sets of protection-pipe system was tested for impact loadings. It was found from the results of both the analysis and experimental tests that the protection-pipes are able to meet the requirements of the local power company TPC set for the cable layout under seawater.
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Weedy, B. M. "Prediction of return currents and losses in underwater single-core armoured AC cables with large spacings." Electric Power Systems Research 10, no. 1 (January 1986): 77–85. http://dx.doi.org/10.1016/0378-7796(86)90052-0.
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Hemery, Lenaïg G., Kailan F. Mackereth, Cailene M. Gunn, and Edward B. Pablo. "Use of a 360-Degree Underwater Camera to Characterize Artificial Reef and Fish Aggregating Effects around Marine Energy Devices." Journal of Marine Science and Engineering 10, no. 5 (April 19, 2022): 555. http://dx.doi.org/10.3390/jmse10050555.
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Marine energy devices must be attached to the seafloor by their foundations, pilings, or anchors, and will have other parts in the water column like the devices themselves, mooring lines, and power export cables running along the seafloor. The installation and presence of these artificial structures will create physical changes that can disrupt or create new habitats, and potentially alter the behavior of mobile organisms such as fish around a device by attracting them to these new artificial reefs and fish aggregating devices. In this study, we tested a new approach for monitoring fish activity around a marine energy device anchor: a 360-degree underwater camera to keep the target (a wave energy converter’s anchor) in the field of view of the camera. The camera was deployed in three configurations (hand-held, tripod, video lander) at sites with different hydrodynamics and underwater visibilities. The video lander was the best configuration: very stable, versatile, and easy to handle. The 360-degree field of view enabled observing and counting fishes, which were more abundant at dusk than dawn or noon, around the anchor. Despite remaining challenges, 360-degree cameras are useful tools for monitoring animal interactions with marine energy devices.
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Copping, Andrea E., Mikaela C. Freeman, Alicia M. Gorton, and Lenaïg G. Hemery. "Risk Retirement—Decreasing Uncertainty and Informing Consenting Processes for Marine Renewable Energy Development." Journal of Marine Science and Engineering 8, no. 3 (March 4, 2020): 172. http://dx.doi.org/10.3390/jmse8030172.
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Marine renewable energy (MRE) is under development in many coastal nations, adding to the portfolio of low carbon energy sources that power national electricity grids as well as off-grid uses in isolated areas and at sea. Progress in establishing the MRE industry, largely wave and tidal energy, has been slowed in part due to uncertainty about environmental risks of these devices, including harm to marine animals and habitats, and the associated concerns of regulators and stakeholders. A process for risk retirement was developed to organize and apply knowledge in a strategic manner that considered whether specific environmental effects are likely to cause harm. The risk retirement process was tested against two key MRE stressors: effects of underwater noise from operational MRE devices on marine animals, and effects of electromagnetic fields from MRE electrical export cables on marine animals. The effects of installation of MRE devices were not accounted for in this analysis. Applying the risk retirement process could decrease the need for costly investigations of each potential effect at every new MRE project site and help move the industry beyond current barriers.
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Maki, Toshihiro, Yoshiki Sato, Takumi Matsuda, Kotohiro Masuda, and Takashi Sakamaki. "Docking Method for Hovering-Type AUVs Based on Acoustic and Optical Landmarks." Journal of Robotics and Mechatronics 30, no. 1 (February 20, 2018): 55–64. http://dx.doi.org/10.20965/jrm.2018.p0055.
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Autonomous underwater vehicles (AUVs) have the advantage of not requiring tether cables or human control; however, they have limited energy, and must be recovered before their batteries drain completely. To charge AUV batteries efficiently, in-situ charging systems have attracted much attention. This study proposes a method for hovering-type AUVs to dock at a seafloor station, for long-term deployment of the system with minimum human intervention. In the proposed method, an AUV docks at a seafloor station autonomously, based on both acoustic and optical landmarks attached to the station. The AUV stochastically estimates its position and orientation with regard to the station, and controls itself to land on the exact docking spot at the station. When docking is completed, the station begins electric power transmission via non-contact charging devices. The proposed method was evaluated on the AUV Tri-TON 2, and a seafloor station testbed. The vehicle succeeded in autonomous docking at the station in both the tank and sea trials. Non-contact charging during docking was also verified during the tank experiments, using the non-contact charging devices developed by our group.
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Bai, Zhi Gang, Ruo Chen Lv, and Ran Meng. "Experimental Investigation on Scour around Marine Pipelines in Silt Beds by Jet Trenching." Applied Mechanics and Materials 256-259 (December 2012): 1956–59. http://dx.doi.org/10.4028/www.scientific.net/amm.256-259.1956.
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Jetting power has been applied more and more frequently to create trench in the seabed to bury cables or pipelines under a protective layer of sand in offshore engineering. However, there are still several key problems to be understood further and solved both in their design and operating. This study investigates the topographic deformation due to the scour of silt beds which lie below marine pipelines and are impinged by moving two jets in a model experimental system. The response of silty sea beds was also examined during the experiment. The important parameter that influences the trenching performance, the jet velocity, was studied. The speed of the jet horizontal motion was varied to examine its effect on the scour profile. By presenting the variation of a scour profile with time after impingement, the change process was analyzed. The asymptotic scour profiles were found to be very similar when made non-dimensional, and a function was employed to describe the non-dimensional profile. The results of the above work will permit a better understanding of the mechanisms controlling the performances of underwater trenching by jet trenching machines.
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Linke, Peter, Mark Schmidt, Marco Rohleder, Alaa Al-Barakati, and Radwan Al-Farawati. "Novel Online Digital Video and High-Speed Data Broadcasting via Standard Coaxial Cable Onboard Marine Operating Vessels." Marine Technology Society Journal 49, no. 1 (January 1, 2015): 7–18. http://dx.doi.org/10.4031/mtsj.49.1.2.
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AbstractA recently developed deep-sea telemetry (DST), based on the digital subscriber line technology, has been successfully used to equip various remotely operated underwater devices with online video control, high-speed data transmission, and power supply via standard coaxial cables with a length of up to 8,000 m. The system has been applied to study and sample the extreme saline and high-temperature conditions of the Red Sea brines and to detect gas emissions at abandoned wells in the North Sea. In both applications, it has been integrated into a water sampler rosette, providing live video streaming and internal recording from commercial high-definition and analog cameras as well as simultaneous data transmission from a suite of sensors to record and sample the distribution of dissolved gases (e.g., methane and CO2) and oceanographic parameters. This combination makes an ideal survey and monitoring tool for leak detection even in harsh subsea environments. The DST has also been used to deploy landers at selected spots at the seafloor. In combination with remotely operated vehicle (ROV) deployments, this technique can be used to increase significantly the efficiency of ROV bottom time during deep-water operations. The high quality of the video transmission, ease of operation, and versatile application make this novel system superior to existing conventional analog transmission systems.
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Zhang, Zhifeng, Yanhu Chen, Dejun Li, Bo Jin, Canjun Yan, and Feifei Xu. "An Active Node Switching Method Based on Discrete-Voltage Intervention for Seafloor Observation Network." Marine Technology Society Journal 51, no. 3 (May 1, 2017): 48–59. http://dx.doi.org/10.4031/mtsj.51.3.6.
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AbstractThe cabled seafloor observation network, which provides abundant power and broad bandwidth to seafloor scientific packages, has become one of the most efficient ocean exploration methods because of its long-term, real-time, and sustained presence. However, node failure or maintenance may shut down the system until the situation is cleared. An active node switching method based on discrete-voltage intervention is proposed to establish a reliable and robust underwater electrical network that allows the system to operate partially amid node failure or maintenance. This method switches a specific node on/off from the network whenever necessary. The main structure and operating mechanism of this switching method are presented in this paper. A prototype was established, and several tests were performed in a laboratory to validate its feasibility and reliability. The prototype was then integrated into a pool-testing underwater network that included a 50-km electrical/optical submarine cable between the base station and the junction box. The test results demonstrated that the active node-switching method can efficiently and reliably fix node failure emergency situations for cabled ocean networks.
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Wang, Tong, Zihao You, Wei Song, and Shiqiang Zhu. "Dynamic Analysis of an Underwater Cable-Driven Manipulator with a Fluid-Power Buoyancy Regulation System." Micromachines 11, no. 12 (November 26, 2020): 1042. http://dx.doi.org/10.3390/mi11121042.
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This article presents an underwater cable-driven manipulator (UCDM) with a buoyancy regulation system (BRS), which is controlled by a fluid-power system. The manipulator consists of five sections, and each section is embedded with a buoyancy adjustment unit. By regulating buoyancy at each section, the static and dynamic states of the manipulator will be changed, promising a new operating mode of an underwater manipulator driven by buoyancy. In this article, a dynamic model of the manipulator is established by the Newton-Euler equation, considering cable tension, inter-joint force, buoyancy, water resistance and other variables. With a numerical method, the dynamic model is solved and the values of cable tension are obtained, which are used to evaluate the buoyancy-driven operating mode of underwater manipulator. This research will be useful for manipulator operating in fluid environments, such as underwater manipulator in the ocean, micro-manipulator in a blood vessel, and so on.
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Feng, Ying Bin, Zhi Gang Li, and Xiao Hui Wang. "Power System Research for Cabled Seafloor Scientific Observatory." Advanced Materials Research 1030-1032 (September 2014): 1415–20. http://dx.doi.org/10.4028/www.scientific.net/amr.1030-1032.1415.
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The power supply system, which is totally discussed in this paper, is of special importance for the daily operation of the cabled seafloor scientific observatory. Based on the unique features of the power supply system of the cabled seafloor scientific observatory, this paper proposes the solution of parallel direct current power supply, which is suitable for the underwater environment. According to special application environment of power supply system,this paper determines the maximum voltage and current that can be applied to the transmission system of the cabled seafloor scientific observatory.
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Nedelcu, Andra-Teodora, Cătălin Faităr, Nicolae Buzbuchi, and Liviu Stan. "Study Simulation of Umbilical Cable for Underwater Vehicle." Bulletin of the Polytechnic Institute of Iași. Machine constructions Section 67, no. 3 (September 1, 2021): 19–32. http://dx.doi.org/10.2478/bipcm-2021-0014.
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Abstract This paper presents a series of analyses regarding the tethered umbilical cable in uniform current cable from the composition of the underwater remotely operated vehicle (ROV). The remotely operated vehicle is used in different undersea operation when it is important to control and determine precisely the disturbance forces generated by drag due to currents that act either on the vehicle directly or indirectly on the tether umbilical cable. The dynamics of umbilical cable represent an important part in ocean environment being used for signal and power transmission application. To perform the simulation in Ansys Aqwa, two axis systems are considered. A coordinate system related to the earth, represented by the key in front of which the measurements are made and a second coordinate system related to the vehicle at a set depth relative to the surface of the key. The results obtained from the simulation show us the drag forces that are exerted on the chosen cable for a given length, drag that appear both the seaborne platforms and underwater remotely vehicle contact.
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Brown, Alan S. "Heat Sink Sunk." Mechanical Engineering 139, no. 01 (January 1, 2017): 40–45. http://dx.doi.org/10.1115/1.2017-jan-3.
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This article explores various innovative ways that technology companies are working upon to deal with the large amount of heat of their big data centers. Microsoft’s research and development team is working on designing and building of an underwater data center. Researchers believe that underwater data centers might have power, construction, and performance advantages as well. Berkeley’s National Energy Research Scientific Computing Center (NERSC) recycles its chilled water. NERSC uses air to chill the data center and cooler-running components, such as disk drives, routers, and network servers. With the growing efficiency of data centers, better cooling might not be enough to make underwater operations worthwhile. But cooling is only one of the advantages that Microsoft sees in submerging its data centers. Submersibles also simplify deployment. Microsoft used an underwater cable connected to the electrical grid to power Leona Philpot, a submersible data center. In the future, it may reduce costs through renewable energy, combined with on-site energy storage and backup power from the grid.
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Cho, Hyunjoon, Sang-Ki Jeong, Dae-Hyeong Ji, Ngoc-Huy Tran, Mai The Vu, and Hyeung-Sik Choi. "Study on Control System of Integrated Unmanned Surface Vehicle and Underwater Vehicle." Sensors 20, no. 9 (May 5, 2020): 2633. http://dx.doi.org/10.3390/s20092633.
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In this paper, in order to overcome certain limitations of previously commercialized platforms, a new integrated unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) platform connected via underwater cable capable of acquiring real-time underwater data and long-time operation are studied. A catamaran-type USV was designed to overcome the limitations of an ocean environment and to play the role as the hub of power supply and communication for the integrated platform. Meanwhile, the UUV was designed as torpedo-shaped to minimize hydrodynamic resistance and its hardware design was focused on processing and sending the underwater camera and sonar data. The underwater cable driven by a winch system was installed to supply power from the USV to the UUV and to transmit acquired data form underwater sonar sensor or camera. Different from other previously studied cooperation system of USVs and autonomous underwater vehicles (AUVs), the merit of the proposed system is real-time motion coordination control between the USV and UUV while transmitting large amount of data using the tether cable. The main focus of the study is coordination of the UUV with respect to the global positioning system (GPS) attached at USV and verification of its performance throughout field tests. Waypoint tracking control algorithm was designed and implemented on USV and relative heading, distance control for USV–UUV coordination was implemented to UUV. To ensure the integrity of the coordination control of the integrated platform, a study on accurate measurement system of the relative position between the USV and the UUV by using the GPS and the ultrashort baseline (USBL) device was performed. Individual tests were conducted to verify the performance of USBL and AHRS, which provide the position and heading data of UUV among the sensors mounted on the actual platform, and the effectiveness of the obtained sensor data is presented. Using the accurate measurement system, a number of field tests were conducted to verify the performance of the integrated platform.
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Savenko, A. E., and P. S. Savenko. "Supporting the operation of the electrical power system of modern special purpose vessels with dynamic positioning." Power engineering: research, equipment, technology 23, no. 6 (March 30, 2022): 99–108. http://dx.doi.org/10.30724/1998-9903-2021-23-6-99-108.
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THE PURPOSE. Consider the use of special purpose vessels with a dynamic positioning system. To conduct observations and research of the operation of electrical power systems of such vessels for the existence of problems in them that affect the performance of technological operations. To propose methods and means aimed at eliminating situations and processes that adversely affect the operation of shipboard electrical power systems when laying pipelines.METHODS. For observation and research, the unified electrical power systems with electric rudder propellers and a system for laying an underwater pipeline of the "Seven Vega" cable layer was considered. Collected information on all the main electrical systems of the vessel "Seven Vega". Experimental studies were carried out aimed at studying the operating modes of the electrical power system during the laying of pipelines.RESULTS. Experimental oscillograms of currents of parallel operating diesel-generator sets in different modes have been obtained. The existence of power exchange oscillations during the operation of the unified electric power system of the cable-laying ship “Seven Vega” is noted. The data on the negative influence of power oscillations on the operation of tensioners during the laying of underwater pipelines were obtained.CONCLUSION. The use of sea-going vessels with dynamic positioning for laying pipelines and performing oil and gas production operations requires ensuring the operation of their electrical power systems. To ensure the high-quality operation of tensioners in pipeline laying systems, it is necessary to ensure the adjustment of their regulators and to exclude the occurrence of power exchange oscillations during parallel operation of generator sets.
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Santana Sosa, Graciela, Judith Santana Abril, Javier Sosa, Juan-Antonio Montiel-Nelson, and Tomas Bautista. "Design of a Practical Underwater Sensor Network for Offshore Fish Farm Cages." Sensors 20, no. 16 (August 10, 2020): 4459. http://dx.doi.org/10.3390/s20164459.
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In this paper, we present the design of a practical underwater sensor network for offshore fish farm cages. An overview of the current structure of an offshore fish farm, applied sensor network solutions, and their weaknesses are given. A mixed wireless–wired approach is proposed to mitigate the problem of wire breakage in underwater wired sensor networks. The approach is based on the serial arrangement of identical sections with wired and wireless interconnections areas. Wireless section alleviates underwater maintenance operations when cages are damaged. The analytical model of the proposed solution is studied in terms of maximum power transfer efficiency and the general formulas of the current in their transmitting antennas and sensor nodes are provided. Subsequently, based on simulations, the effects of parasitic resistance across the network are evaluated. A practical underwater sensor network to reach the 30 m depth with sensor nodes distanced 6 m is used to determine the proposal compliance with the ISO 11784/11785 HDX standard in its normal operation. Taking into account the cable breakage scenario, the results from experiments demonstrate the robustness of the proposed approach to keep running the sensor nodes that are located before the short circuit. Sensor node run time is reduced only 4.07% at most using standard values when a cable breakage occurs at the second deepest section.
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Fischer, Philipp, Max Schwanitz, Reiner Loth, Uwe Posner, Markus Brand, and Friedhelm Schröder. "First year of practical experiences of the new Arctic AWIPEV-COSYNA cabled Underwater Observatory in Kongsfjorden, Spitsbergen." Ocean Science 13, no. 2 (April 4, 2017): 259–72. http://dx.doi.org/10.5194/os-13-259-2017.
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Abstract. A combined year-round assessment of selected oceanographic data and a macrobiotic community assessment was performed from October 2013 to November 2014 in the littoral zone of the Kongsfjorden polar fjord system on the western coast of Svalbard (Norway). State of the art remote controlled cabled underwater observatory technology was used for daily vertical profiles of temperature, salinity, and turbidity together with a stereo-optical assessment of the macrobiotic community, including fish. The results reveal a distinct seasonal cycle in total species abundances, with a significantly higher total abundance and species richness during the polar winter when no light is available underwater compared to the summer months when 24 h light is available. During the winter months, a temporally highly segmented community was observed with respect to species occurrence, with single species dominating the winter community for restricted times. In contrast, the summer community showed an overall lower total abundance as well as a significantly lower number of species. The study clearly demonstrates the high potential of cable connected remote controlled digital sampling devices, especially in remote areas, such as polar fjord systems, with harsh environmental conditions and limited accessibility. A smart combination of such new digital sampling methods with classic sampling procedures can provide a possibility to significantly extend the sampling time and frequency, especially in remote and difficult to access areas. This can help to provide a sufficient data density and therefore statistical power for a sound scientific analysis without increasing the invasive sampling pressure in ecologically sensitive environments.
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Vukšić, Marko, Slaven Josipović, Ante Čorić, and Ante Kraljević. "Underwater ROV as Inspection and Development Platform." Transactions on Maritime Science 6, no. 1 (April 20, 2017): 48–54. http://dx.doi.org/10.7225/toms.v06.n01.005.
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The successful business technical cooperation between the University of Split and the company PLOVPUT LLC yields a very usable, lightweight, maneuverable underwater Remote Operated Vehicle (ROV). The ROV is capable of diving down to 150 m depth. It can carry different remote controlled sensors and tools, and resolve challenging tasks. Primarily ROV’s usage is to inspect underwater electrical installation. It is equipped with HD camera and LED lights. An umbilical cable is used to transfer data and electrical power from the surface to the underwater vehicle. The position control was realized using inexpensive PS2 joystick console. ROV’s development was mostly carried out by the students of the University of Split (UNIST). The mechanical and electrical subsystems were built and tested at UNIST laboratories. In this paper, ROV mechanical and electrical systems are outlined and basic subsystems are presented.
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Yun, Sung-Jo, Hyo-Gon Kim, Jung-Woo Park, Hyo-Jun Lee, Jong-Chan Kim, Jeong-Hwan Hwang, Young-Ho Choi, et al. "Development of a Towed Underwater Platform That Can Operate in a Marine Environment and Explore the Sea Bottom." Journal of Marine Science and Engineering 10, no. 1 (January 5, 2022): 66. http://dx.doi.org/10.3390/jmse10010066.
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Owing to environmental constraints, it is challenging to stably conduct various missions or surveys of the seabed for a prolonged period in the marine environment. To address this challenge, several devices and technologies are being developed. In this study, we aimed to develop an unmanned underwater vehicle (UUV)—specifically, a towed underwater platform—that can be loaded and unloaded via joint operation with an unmanned surface vehicle, which can be connected to a wired cable to obtain a stable power supply and high-speed communication. In addition, various sensors for detection are employed to investigate the marine environment and conduct missions. Furthermore, we operated the developed UUV in actual waters, reviewed the results, and examined its practical operability.
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Omine, Yukimasa, Takashi Gushi, Osamu Higa, and Shigeru Itoh. "Development and Improvement of the Experimental Apparatus Using the Underwater Shock Wave." Materials Science Forum 767 (July 2013): 256–60. http://dx.doi.org/10.4028/www.scientific.net/msf.767.256.
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The underwater shock wave has been studied in the various fields. The application of this method can be used for a molding machining, a welding and an embossing in the metal processing [. Moreover, this processing method can be used for a pulverizing, a softening, and a sterilization in the food processing. The aim of this research is to make the rice powder using by the underwater shock wave without generating of heat [. Although the underwater shock wave is generated using an explosive, the handling of the explosive is extremely accompanied by danger. Therefore, we developed the electric discharging device made to generate the underwater shock wave. It is easier to carry on the experiment using this device than the experiment of an explosive. We developed a pressure vessel for generating the underwater shock wave in various fields. The developed pressure vessel has been improved by our research group. The pressure vessel made to generate the shock wave is manufactured from a new concept, and the coaxial cable is used for wiring of the device.
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Lim, Tae Gyoon, and Soon Geul Lee. "A Sludge Cleaning Robot for Sulfuric Acid Tank." Advanced Engineering Forum 2-3 (December 2011): 419–22. http://dx.doi.org/10.4028/www.scientific.net/aef.2-3.419.
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This paper presents development of a cleaning robot for the sludge in sulfuric acid tank. The sulfuric acid is made during SOx capturing process, well known as flue gas desulfurization, and it has very strong corrosion characteristics. The cloud of micro dust in the flue gas settles as sediment in the acid tank. Because the fume produced by the sulfuric acid is very toxic, the sulfate sludge must be removed not by a worker but by an underwater robot having anti-corrosion capability. For this purpose, an underwater robot is developed with anti corrosion materials for its elements such as robot body, drive shaft, wheel, waterproofing seal, power cable, slurry pumping tube, etc. A series of experiments of sludge cleaning shows that the developed robot works well in the real sulfuric acid tank.
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Li, Zhan-Dong, Jian-Guo Tao, Hao Sun, Jing-Kui Li, Yang Luo, and Zong-Quan Deng. "Analysis of cable force on steady-state motion of remotely operated vehicle for reaction pool underwater welding." International Journal of Advanced Robotic Systems 16, no. 3 (May 1, 2019): 172988141985729. http://dx.doi.org/10.1177/1729881419857296.
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Remotely operated vehicle is a reliable and efficient tool in routing inspection of reactor pools of nuclear power plants. While, there is still no study on steady-state motion of remotely operated vehicle which is crucial for reaction pool underwater welding reported. In practice, the cable force has been considered as a critical factor affecting the vehicle’s operation. To evaluate and predict the disturbing effect caused by the cable mounted on the tailing of a vehicle, a numerical simulation can be employed. In this work, we set up a theoretical model of a cable partially in reaction pool water and air to validate the remotely operated vehicle design and reduce the prototype developing time. We programmed the model governed by an ordinary differential equation set, which was considered as an initial value problem following a dimensionless treatment to be solved. The influence by factors (i.e. velocity, water depth, entry water angle, water density and cable length on tension, normal shear force, and binormal moment) was quantified by a numerical method. The test of a cable force was carried out to verify an authenticity of the three-dimensional mechanical model and a numerical method. The results demonstrated that the presented method could be used to evaluate the effect of real environment factors on a remotely operated vehicle steady-state motion and held a potential to improve the remotely operated vehicle design and control strategy.
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Sani, Muhammad Ikhsan, Simon Siregar, Aris Pujud Kurniawan, and M. Abid Irwan. "FIToplankton: Wireless Controlled Remotely-operated Underwater Vehicle (ROV) for Shallow Water Exploratio." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 5 (October 1, 2018): 3325. http://dx.doi.org/10.11591/ijece.v8i5.pp3325-3332.
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Remotely Operated Vehicle (ROV) for underwater exploration is typically controlled using umbilical cable connected to ground control station. Unfortunately, while it’s used for power distribution and data transmission, it also obstruct the movement of ROV especially for shallow water (<50 cm). This paper proposed an alternative method for controlling ROV using wireless remote control system. This work also aims to explore the possibility of using RF wireless technology between 420-450 MHz as underwater communication system. Furthermore, the control system was used to manage actuators i.e. DC motor and bilge pump for maneuvring and picking small size cargo. To help the ROV to hold on a desired, Inertial Measurement Unit (IMU) is installed on board ROV within maximum deviation 0.2 m/s2. The prototype of the system has been successfully implemented and evaluated to confirm the functionality and the feasibility of the proposed approach.
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Chen, Yanhu, Canjun Yang, Dejun Li, Bo Jin, and Ying Chen. "Design and Application of a Junction Box for Cabled Ocean Observatories." Marine Technology Society Journal 46, no. 3 (May 1, 2012): 50–63. http://dx.doi.org/10.4031/mtsj.46.3.4.
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AbstractCabled ocean observatories enabling large amounts of power and two-way communication bandwidth for underwater experiments are a future approach for studying the oceans. On April 21, 2011, at Monterey Bay, California, USA, a network node composed of a junction box (JBox) and three scientific instruments was deployed at the Monterey Accelerated Research System (MARS) site for a 6-month uninterrupted sea trial. The JBox is a facility that can provide multiple wet-mateable connections for various instruments. Each connection can draw 500 W of power and has 10/100 Mbit/s network communication. The current study presents the design and construction of the JBox with focus on the following aspects: a power distribution system with high reliability; a flexible springloaded mechanical structure for heat dissipation; communication that incorporates various data protocols; and self-protection against faults like over-current, short fault, ground fault, and flooding. The deployment and operation of the JBox is described. The sea trial results show that the technologies and methods applied on the JBox and the deploying approach are applicable and worthy of consideration for long-term cabled ocean observatories.
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Clarke, Malcolm R., and P. L. Pascoe. "The Influence of an Electric Light on the Capture of Deep-Sea Animals by a Midwater Trawl." Journal of the Marine Biological Association of the United Kingdom 65, no. 2 (May 1985): 373–93. http://dx.doi.org/10.1017/s0025315400050499.
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For centuries man has used lights to attract and concentrate fishes near the sea surface to aid their capture by nets or hooks (Ben-Yami, 1982). Underwater lights lowered into shallow seas are now regularly used to lure fish into set nets, large nets suspended beneath ships or into the vicinity of powerful pumps (Sidelnicov, 1981; Andreev, 1962; Nikonorov, 1969). Usually lights of more than 1 kw are used and such power requires a surface generator and strong insulated cable from the surface to the light. Although we know from these applications that some fish species are attracted by lights, the use of lights on trawls has not been developed for commercial exploitation or for research sampling. Perhaps such development has been discouraged by the safety problem and technical difficulties of providing electrical power on deck and handling heavily insulated conducting cable between the trawl and the generator. Lights have been used on commercial trawls with television in experiments to study fish reaction to trawls but such experiments were not concerned with finding the effect that lights might have on the quantity of fish caught and catches have not been analysed (A. Maclntyre, personal communication).
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Kostenko, V. V., and I. G. Mokeeva. "Assessment of the Possibility of Using ROV in the Mode of Joint Traffic with the Support Vessel." IOP Conference Series: Earth and Environmental Science 988, no. 2 (February 1, 2022): 022071. http://dx.doi.org/10.1088/1755-1315/988/2/022071.
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Abstract The correspondence of the characteristics of the propulsion and steering complex (PSC) to the values required to compensate for the response of the communication cable determines the efficiency of using tethered underwater vehicles. The report assesses the requirements for the thrust characteristics of the PSC, which ensures the maneuvering of the vehicle relative to the carrier or garage in the mode of movement of the complex along an extended bottom object. The assessment is based on the results of calculating the tension of the communication cable in the stream, due to the joint movement of the tethered system “carrier-garage-vehicle”. This tension, together with the hydrodynamic resistance of the apparatus body, determine the requirements for the thrust characteristics of the PSC, as well as for the power supply system of the complex as a whole. An algorithm is proposed for calculating the tension of the communication cable between the vehicle and carrier in a stationary flow, based on the equation of a chain line and numerical integration of the equations of an inextensible flexible thread. An example of using the proposed methodology for calculating the variants of a tethered system is given.
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Li, Jiemeihui, Yang Shi, Yixin Yang, and Xiaodong Huang. "Noise of Internal Solitary Waves Measured by Mooring-Mounted Hydrophone Array in the South China Sea." Journal of Marine Science and Engineering 10, no. 2 (February 8, 2022): 222. http://dx.doi.org/10.3390/jmse10020222.
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Internal solitary waves in the South China Sea have attracted attention because of their large amplitude and high rate of occurrence. Internal solitary waves have a substantial influence on underwater sound propagation and ambient noise. However, there have seldom been reports on the noise they cause. In this paper, we conducted an internal solitary waves cooperative observation experiment in the South China Sea in 2016. We analyzed the temperature, flow velocity and noise changes induced by internal solitary waves. The power spectra of noise generated by internal solitary waves at frequencies below 100 Hz was almost 20 dB higher than ambient noise. The observed low-frequency noise had uniform harmonics. Combined with the changes of flow velocity, we interpreted the low frequency noise as flow noise induced by vortex-induced vibration of internal solitary waves flowing past the cable mooring system. The noise spectra were related to the position of the cable where the hydrophone was mounted. The closer they were to the middle of the cable, the greater the vibration amplitude, and the stronger the noise. This study provided a passive acoustic monitoring and warning method for high marine currents.
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Zhang, Zhou, Wang, and Wu. "Design, Analysis, and Modeling of an Isolated Constant-Current to Constant-Voltage Converter in Cabled Underwater Information Networks." Electronics 8, no. 9 (August 29, 2019): 961. http://dx.doi.org/10.3390/electronics8090961.
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The underwater electric energy conversion modules are the equipment for distributing electric energy to the electric instruments in the cabled underwater information networks (CUINs), which are also related to the normal and stable operation of the underwater systems, the energy foundation and an important part of the network platform. Based on the classic push-pull high frequency switching circuit of constant voltage conversion, an isolated constant-current to constant-voltage (CC–CV) converter based on pulse width modulation (PWM) feedback was proposed in this paper. Through the theoretical analysis of the working principle of the CC–CV converter and the modeling of the converter circuit based on the state space method, it was verified that the designed converter can achieve the constant current to constant voltage transformation by high-frequency PWM feedback. Based on Saber simulation software, the circuit model of the CC–CV converter was built, and the feasibility of the design was proved by simulation analysis. According to the isolated high-frequency switching CC–CV converter circuit, the physical prototype was made. By adjusting the resistance value of the output load, the constant voltage (CV) characteristic of the output voltage of the converter was analyzed. Furthermore, the results show that the output voltage of the designed CC–CV converter is stable and the ripple of output voltage is less than 5%, when the input current or output load resistance is adjusted under the CC output status, which has the CV output characteristic. The CC–CV converter has good rationality and feasibility, and is suitable for the future development of the constant current remote power supply system of CUINs.
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Khan, Liquan, Gang, Imran, Waqas, and Zaidi. "Concept Design of the Underwater Manned Seabed Walking Robot." Journal of Marine Science and Engineering 7, no. 10 (October 15, 2019): 366. http://dx.doi.org/10.3390/jmse7100366.
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In this paper, a novel concept designed of a multi-legged underwater manned seabed walking robot is presented. The robot will be used in both shallow water current (1–2 m/sec) and deep water up to 500 m. It is powered by an external electric power source through tether cable. It walks on the seabed with six legs, which makes it distinct from conventional screw-propelled underwater robots. It can walk calmly without making the water turbid. Two anterior arms act as manipulators. All leg joints and manipulators are controlled by Brushless Direct Current Motors. Motivation for this concept comes from soldier crab that walk mostly forward and has an egg-shaped body. It is operated by a pilot sitting in a pressurized cabin, and promptly control operations of the robot and manipulator. Preliminary design of the pressurized cabin, using an empirical formula, “ASME PVHO-1 2007” standard, and validation was carried out through ANSYS Workbench. Hydrodynamic forces acting on the robot body and legs are utilized to withstand the water current and external forces to adjust legs and body posture for stability. Buoyancy rules are employed to control its rising and diving motion. All key technologies employed in the development of the robot and their approaching methods are explained. It will provide a safe operation space for humans in underwater operations.
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Schrader, Paul S., Clare E. Reimers, Peter Girguis, Jennifer Delaney, Cody Doolan, Michael Wolf, and Dale Green. "Independent Benthic Microbial Fuel Cells Powering Sensors and Acoustic Communications with the MARS Underwater Observatory." Journal of Atmospheric and Oceanic Technology 33, no. 3 (March 2016): 607–17. http://dx.doi.org/10.1175/jtech-d-15-0102.1.
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AbstractMost oceanographic instruments on the seafloor have no connections with the surface and therefore have to run on batteries and store data until recovery. To demonstrate a developing technology, sensors and acoustic modems were powered with energy harvested from the seafloor, and data were relayed acoustically in near–real time to the Monterey Accelerated Research System (MARS) observatory in Monterey Bay, California, and to surface research vessels. MARS is a cabled observatory in deep water (~890 m) at the edge of Monterey Canyon. An acoustic modem was attached to the MARS node and configured to send out commands to, and relay data received from, remote modems. Two benthic microbial fuel cells (BMFCs) positioned approximately 0.5 km away from MARS supplied power to the remote modems and sensors. At their peak performance, these BMFCs produced continuous power densities of ~35 mW m−2 (footprint area). The modems utilized in this study contained an integrated power management platform (PMP) designed to manage and store the electrical energy generated by each BMFC and to record BMFC performance parameters and sensor data on an hourly basis. Temperature and either oxygen or conductivity sensors were chosen because of their common use and environmental relevance. Acoustically transmitted data records show that the BMFCs renewed energy stores and that the oceanographic sensors measured dissolved oxygen, temperature, and conductivity reliably throughout the operational life of each BMFC system (~6 months). These systems remained in place for more than 12 months.
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Santos, Edval JP. "Bucket-brigade Inspired Power Line Network Protocol for Sensed Quantity Profile Acquisition with Smart Sensors Deployed as a Queue in Harsh Environment." Journal of Integrated Circuits and Systems 16, no. 3 (December 31, 2021): 1–9. http://dx.doi.org/10.29292/jics.v16i3.495.
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Pressure and temperature profile are key data for safe production in oil and gas wells. In this paper, a bucket-brigade inspired sensor network protocol is proposed which can be used to extract sensed data profile from the nanoscale up to kilometer long structures. The PHY/MAC layers are discussed. This protocol is best suited for low data rate exchanges in small fixed-size packets, named buckets, transmitted as time-domain bursts among high-precision smart sensors deployed as a queue. There is only one coordinator, which is not directly accessible by most of the sensor nodes. The coordinator is responsible for collecting the measurement profile and send it to a supervisory node. There is no need for complex routing mechanism, as the network topology is determined during deployment. There are many applications which require sensors to be deployed as a long queue and sensed data could be transmitted at low data rates. Examples of such monitoring applications are: neural connected artificial skin, oil/gas/water pipeline integrity, power transmission line tower integrity, (rail)road/highway lighting and integrity, individualized monitoring in vineyard or re-foresting or plantation, underwater telecommunications cable integrity, oil/gas riser integrity, oil/gas well temperature and pressure profile, among others. For robustness and reduced electromagnetic interference, wired network is preferred. Besides in some harsh environment wireless is not feasible. To reduce wiring, communications can be carried out in the same cable used to supply electrical power.
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Zang, Yu-jia, Yan-hu Chen, Can-jun Yang, De-jun Li, Ze-jian Chen, and Gul Muhammad. "A new approach for analyzing the effect of non-ideal power supply on a constant current underwater cabled system." Frontiers of Information Technology & Electronic Engineering 21, no. 4 (April 2020): 604–14. http://dx.doi.org/10.1631/fitee.1800737.
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Chen, Jiawang, Yanhu Chen, Qinghua Sheng, Linyi Gu, Ying Chen, and Junyi Yang. "A Novel Active Seafloor Pressure-Retained Multitube Sediment Corer." Marine Technology Society Journal 48, no. 3 (May 1, 2014): 43–56. http://dx.doi.org/10.4031/mtsj.48.3.4.
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AbstractA novel minimally disturbed seafloor pressure-retained sediment corer driven by a self-served underwater fluid power system is presented. It features multiple independent two-stage cylinders with a piston rod to mount a core liner that can be penetrated into sediment and pulled back at a controllable speed. Each core tube is equipped with two ball valves to retain the in situ pressure of the seafloor sediment. The corer can be monitored in real time and controlled from the deck via a coaxial cable, such that operators onboard can choose the proper coring location, control the coring speed, and collect multitube pressure-retained cores in different sites during one deployment. The test prototype is equipped with only two tubes and deployed at a depth of 1,035 m in the South China Sea by the R/V Dayang No. 1 of China. Two tubes of sediment cores with in situ pressure retained have been successfully obtained.
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Khaerani, Puspa, Heru Sri Naryanto, Dian Nuraini Melati, and Syakira Trisnafiah. "Kajian Landing Station Alat Deteksi Dini Tsunami Berbasis Kabel Serat Optik Bawah Laut di Kabupaten Pasangkayu, Sulawesi Barat." Jurnal ALAMI : Jurnal Teknologi Reduksi Risiko Bencana 5, no. 1 (July 29, 2021): 19–30. http://dx.doi.org/10.29122/alami.v5i1.4841.
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The construction of an underwater fiber-optic cable-based tsunami early detection system is planned to be installed in the Makassar Strait with a landing point in West Sulawesi. Land infrastructure such as a Power House (PH), a communication tower, and a Beach Manhole (BMH) is needed to sustain the system's power in order to survive. Therefore, the aim of this scientific paper is to study several alternative landing station locations in Pasangkayu, West Sulawesi and then determine the priority locations. The methods used to achieve these objectives are field observation methods and secondary data analysis based on parameters of land area conditions, environmental conditions, supporting infrastructure, social conditions and licensing systems, and marine activities. These aspects are then assessed to determine the priority of the selected location. The location selected based on the assessment carried out is ALT-02B. In succession, the three priority locations selected from the order of most priority to least priority are ALT-02B, ALT-02A, and ALT-06. This selected priority location is not necessarily the final choice location to be used in the construction of a tsunami early detection system land infrastructure because in the process there are still things to be considered and aspects that are made the main priority for consideration in making decisions.
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Lobanov, S. A., and O. S. Rostunova. "Interconnections between International and National Criminal Law Relevant to Energy Security." Moscow Journal of International Law, no. 4 (January 31, 2022): 108–22. http://dx.doi.org/10.24833/0869-0049-2021-4-108-122.
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INTRODUCTION. The relevance of the research topic is determined, firstly, by the special socio-economic and international importance of energy, the technical complexity of energy facilities and at the same time, their increased vulnerability, potential threat to the environment, and secondly, by the needs to ensure the safety of energy activities in its various forms with the help of international and national law. Despite the fact that in the science of international law considerable attention is paid to the problem of the relationship between international and national law, there are no special comprehensive studies on the problem of the relationship between international and national law in the field of ensuring the safety of energy activities. In turn, the category “energy security”, in contrast to the outwardly similar and organically related (but not identical) category “energy security”, has not yet received a comprehensive (including within the framework of legal science) research, is not legalized in law. The purpose of the work is to substantively identify the possibility and necessity of legalizing the category of "energy security" and the potential for improving national law (in particular, national criminal legislation) on the circumstances of Russia's participation in international treaties, fulfilling international legal obligations and increasing the efficiency of legal regulation, protecting national interests in the energy sector.MATERIALS AND METHODS. Within this research international treaties and documents of the international law and national legislation of States are analyzed. As a research method, the general scientific and special methods of enquiry is used, including the comparative legal and the formal legal methods.RESEARCH RESULTS. In modern conditions, there is a need to legalize the category of “safety of energy activities”, which, in contrast to the “energy safety” category, has not yet received due attention, including in legal research. The safety of energy activities has various sections, and its legal support includes a wide range of measures and regulators of an international legal and national legal nature. In practice, the relationship between international legal and national legal regulators, their combination and composition in the process of ensuring the safety of energy activities (as applied to individual energy facilities, in particular, floating nuclear power plants) can take complex, combined forms. Counteraction to acts of unlawful interference that infringe on the interests of the safety of energy activities is carried out in the interconnection of international criminal law and national criminal law. The author's position on the question of the systemic affiliation of international criminal law and its relationship with national criminal law is indicated. It is shown that in numerous international treaties and other international documents on environmental protection in connection with the conduct of energy activities, with rare exceptions, there is no mention of criminal-legal measures to counter relevant environmental offenses; accordingly, this issue is resolved at the level of the national criminal law of states. The special and most developed international legal documents on the issues of ensuring the anti-criminal security of energy activities are the Protocols for the suppression of unlawful acts against the security of fixed platforms (1988 and 2005, respectively). The need for the implementation of international legal provisions into national criminal legislation is substantively indicated. A legislative gap was identified and the potential for improving the norms of national legislation on the criminal law protection of trunk pipelines was identified, taking into account the provisions of the 1982 UN Convention on the Law of the Sea.DISCUSSION AND CONCLUSIONS. The main conclusions of the study are as follows. Firstly, the category "safety of energy activities" in its content is not identical to the category of “energy safety”, while it includes internal (from the point of view of the safety of energy facilities, fuel and energy complex, people involved in the process of their operation) and external (from the point of view of in terms of risks and threats for the environment from the energy activity itself), as well as a number of “sections” (anti-criminal security, industrial and information security, environmental safety), taking into account the nature of the relevant threats. Secondly, the national criminal legislation in the field of ensuring the safety of energy activities has significant potential for improvement, based on the instrument of national legal implementation of legally binding provisions of international treaties for the state. On the fact of Russia's participation in the Protocol for the suppression of unlawful acts against the safety of fixed platforms located on the continental shelf, 1988, it is necessary to implement the provisions of this international legal act in the Criminal Code of the Russian Federation, thereby fulfilling the international legal obligation of the state and increasing efficiency criminal law protection of these objects of the fuel and energy complex. It is also necessary to bring the norms on the criminal law protection of underwater cables and pipelines in the current Criminal Code of the Russian Federation in accordance with the provisions of the international treaty of the Russian Federation – the UN Convention on the Law of the Sea of 1982 (Article 113 “Breakage or damage of a submarine cable or pipeline”).
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Antonov, Dmitry, Leonid Kolganov, Aleksey Savkin, Egor Chekhov, and Maxim Ryabinkin. "NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE." EUREKA: Physics and Engineering 4 (July 31, 2020): 38–50. http://dx.doi.org/10.21303/2461-4262.2020.001361.
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Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability for solving navigation and motion control tasks in autonomous underwater operation under restrictions on the overall dimensions and power consumption of the AUV. The main purpose of this paper is to present preliminary results of AUV navigation and motion control systems development. The AUV’s navigation system is built around strapdown inertial navigation system (SINS) designed specifically for this AUV. When surfaced, position and angular SINS correction is performed using data from dual-antenna GNSS receiver and doppler velocity log (DVL). When underwater, SINS position and velocity correction is performed using acoustic navigation system (ANS) and DVL data. AUV’s control system provides manual and automatic control. Manual control is carried out in real-time by operator via fiber-optic cable using a joystick. Automatic control allows AUV to move independently along a specified trajectory at a given depth and speed. The AUV also has a collision avoidance system that utilizes readings from a forward-facing acoustic rangefinder to estimate time before impact based on AUV’s analytic model. If possible collision is detected, information is transmitted to the control system so that a further appropriate action can be taken. Computer simulation utilizing the analytic AUV model was used in order to check the performance characteristics of the designed control and navigation algorithms. After confirming the operability of the developed algorithms, preliminary tests of the AUV were carried out. During the tests, AUV’s on-board equipment and navigation system readings were recorded and compared to the readings of the reference system, which was also installed on the AUV. During the tests, the dynamic characteristics of the AUV were evaluated. AUV’s characteristics obtained during simulation and testing will be used as a reference during future development
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Rulevskiy, V. M. "Method to determine the optimal voltage and AC frequency in a three-phase cable-rope of the underwater power supply system." Proceedings of Tomsk State University of Control Systems and Radioelectronics 22, no. 2 (2019): 121–27. http://dx.doi.org/10.21293/1818-0442-2019-22-2-121-127.
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Gao, Qiaoling, Jiawang Chen, Chunsheng Wang, Qinghua Sheng, Junyi Yang, and Linyi Gu. "Development on a New Type of Marine Plankton Temperature-Retained and Pressure-Retained Sampler." Marine Technology Society Journal 54, no. 1 (January 1, 2020): 13–24. http://dx.doi.org/10.4031/mtsj.54.1.7.
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AbstractThe marine plankton temperature-retained and pressure-retained sampler is an innovative, deep-sea (maximum 6,000 m) sampler that is equipped with three trawls to obtain marine plankton samples at specified depths and with simultaneous collection of sensor data. The sampler can collect plankton horizontally near the seabed or vertically at different levels of water driven by an underwater fluid power system. The sampler is equipped with a temperature-retained and pressure-retained system to keep the obtained plankton alive when it is brought to the deck, which improves the effective sampling rate of the sampler. The sampler can be monitored in real time and controlled from the deck via a coaxial cable, such that operators onboard can choose the proper sampling location, control the attitude and the moving speed of the sampler, and collect pressure-retained plankton samples in different depths during one deployment. In its verification deployment in the South China Sea (longitude 111°11′´E, latitude 18°05′), the sampler was operated three times at depths of 1,200, 1,500, and 1,600 m. Some plankton samples with in-situ pressure retained have been successfully obtained and the pressure did not decrease after 24 h.
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Ngoc Huy, Tran, and Huynh Tan Dat. "Modeling, design, and control of low-cost Remotely Operated Vehicle for shallow water survey." Science & Technology Development Journal - Engineering and Technology 3, SI1 (April 12, 2020): First. http://dx.doi.org/10.32508/stdjet.v3isi1.722.
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Shallow water zones, including lakes, ponds, creeks, and rivers, play a prominent role in the spiritual culture and economy of Vietnamese people throughout history. Therefore, numerous researches have been conducted in regard to this topic for many purposes, most of which focus on elevating the quality of life and safety. With the aid of new technology, modern platforms gradually replace conventional methods and reach a higher level of efficiency and convenience. This paper presents the research on design and control of Remotely Operated Vehicle (ROV) belonging to National key Laboratory of Digital Control and System Engineering. Basically, it is controlled by human pilots to move underwater and perform specifically pre-assigned tasks. The power supply and communication channel for the vehicle are connected from an onshore station via cable systems. There are several stages of the pipeline in implementing a full-scale ROV platform that must be studied carefully. Prior to the experiments in practical conditions, the proposed 3D model designed by SOLIDWORKS® and MATLAB Simulink® mathematical model analysis firstly provide a nonlinear plant in order to apply classical PID controllers and evaluate their feasibility through simulation process. The outer frame protects other components from being damaged or unattached, while the thruster allocation strategy from the simulated model enables flexibility in motion. A system of sensors and cameras collects data from an underwater environment for on-the-spot monitoring, or they can be captured for further post-analysis processes. After assembling all parts into a whole model, we launched the vehicle at the maximum depth of a pool as the condition of a shallow water survey. Optimistic experimental results have proved the ability of controllers even in case of the presence of external disturbances.
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Zhang, Zheng, Xuejun Zhou, Xichen Wang, and Tianshu Wu. "Research on High-Impedance Fault Diagnosis and Location Method for Mesh Topology Constant Current Remote Power Supply System in Cabled Underwater Information Networks." IEEE Access 7 (2019): 88609–21. http://dx.doi.org/10.1109/access.2019.2926220.
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Fang, Yin-Ying, Chi-Fang Chen, and Sheng-Ju Wu. "Feature identification using acoustic signature of Ocean Researcher III (ORIII) of Taiwan." ANZIAM Journal 59 (July 25, 2019): C318—C357. http://dx.doi.org/10.21914/anziamj.v59i0.12655.
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Underwater acoustic signature identification has been employed as a technique for detecting underwater vehicles, such as in anti-submarine warfare or harbour security systems. The underwater sound channel, however, has interference due to spatial variations in topography or sea state conditions and temporal variations in water column properties, which cause multipath and scattering in acoustic propagation. Thus, acoustic data quality control can be very challenging. One of challenges for an identification system is how to recognise the same target signature from measurements under different temporal and spatial settings. This paper deals with the above challenges by establishing an identification system composed of feature extraction, classification algorithms, and feature selection with two approaches to recognise the target signature of underwater radiated noise from a research vessel, Ocean Researcher III, with a bottom mounted hydrophone in five cruises in 2016 and 2017. The fundamental frequency and its power spectral density are known as significant features for classification. In feature extraction, we extract the features before deciding which is more significant from the two aforementioned features. The first approach utilises Polynomial Regression (PR) classifiers and feature selection by Taguchi method and analysis of variance under a different combination of factors and levels. The second approach utilises Radial Basis Function Neural Network (RBFNN) selecting the optimised parameters of classifier via genetic algorithm. The real-time classifier of PR model is robust and superior to the RBFNN model in this paper. This suggests that the Automatic Identification System for Vehicles using Acoustic Signature developed here can be carried out by utilising harmonic frequency features extracted from unmasking the frequency bandwidth for ship noises and proves that feature extraction is appropriate for our targets.
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Clauss, G. F., S. Hoog, M. Vannahme, H. Gerber, F. Gasparoni, and D. Calore. "MODUS: Space Shuttle for Deep-Water Operations." Marine Technology and SNAME News 40, no. 03 (July 1, 2003): 218–28. http://dx.doi.org/10.5957/mt1.2003.40.3.218.
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This paper presents MObile Docker for Underwater Sciences (MODUS), a specialized remotely operated vehicle (ROV) for deployment, recovery, and servicing of heavy sea bottom stations, for example, scientific observatories for deep-water application (depth rated 4,000 m). Developed, built, and tested as part of the EC-funded project GEophysical and Oceanographic STation for Abyssal Research (GEOSTAR 2001), the new ROV system includes the operating vessel with winch and umbilical and the versatile "space shuttle" MODUS for handling the bottom station with modularized payload. The paper focuses on aspects of the development as well as open water trials and missions. Results from hydrodynamic analyses are presented to illustrate design studies for minimized structure drag and therefore minimized power requirements for thruster-driven horizontal movements. Motion analyses comprise the dynamic behavior of the ship and the entire deep-dived system considering hydroelastic effects. Due to the direct coupling, vertical excitations of the ship in the prevailing sea are substantially transmitted along the submerged umbilical to the ROV, causing potentially harmful slack cable situations. Results from numerical simulations illustrate the dynamic response of the system due to ship oscillations in random seas and the associated downtime of MODUS operations. The paper presents the latest technological and scientific applications of MODUS during its first cruises: Reaching depths of 3,700 m within the EC-funded projects GEOSTAR and BIOtechnology from the DEEP (BIODEEP) in the Mediterranean Sea demonstrates its high availability with reliable performance and low costs.
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Zhang, Zheng, Xuejun Zhou, Xichen Wang, and Lei Wang. "A Novel Diagnosis and Location Method of Short-Circuit Grounding High-Impedance Fault for a Mesh Topology Constant Current Remote Power Supply System in Cabled Underwater Information Networks." IEEE Access 7 (2019): 121457–71. http://dx.doi.org/10.1109/access.2019.2937848.
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Song, Gwo-Shyh. "Mapping the future of offshore wind farming." Impact 2019, no. 9 (December 20, 2019): 12–14. http://dx.doi.org/10.21820/23987073.2019.9.12.
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Offshore wind farming is a growing presence in the renewable energy landscape but these ambitious projects rely on precise assessments of the hard to observe underwater landscape they will occupy before construction can even begin.<br/>Many governments around the world are moving toward renewable energy sources to meet their countries energy demands. The reasons behind this are many, ranging from reducing emissions to the safety of nuclear reactors and waste. For countries lying on or near fault lines, such as Taiwan, the latter becomes an even greater concern. When the earth shakes nuclear power plants, in particular, are highly sensitive and susceptible pieces of infrastructure. To avoid potential catastrophe and achieve greener energy sources the current government in Taiwan is aiming to phase out nuclear power in the coming years and they have chosen wind power as the technology to replace a large portion of the energy supply.<br/> In Taiwan the plan to phase of nuclear power and replace it with wind power has one extra challenge. The plan is not to build on land, like the majority of wind turbine projects, but rather to head out to sea. Offshore wind farms (OWF) are becoming a larger part of the wind power market and European countries have mostly been the early adopters. The waters off Taiwan, in the Taiwan Strait, are attractive for offshore wind farming development due to the favourable wind patterns that occur there. This has drawn major interest from European companies and others around the world to place bids on the growing number of wind farming projects. However, before any of these projects can take place an extensive effort to understand more about the environments below the surface must first be completed.<br/>Fortunately for those individuals who are curious as to the make-up and appearance of the ocean floor, such as engineers who plan to construct permanent structures in the depths, many techniques to map the seabed have been developed. Dr Gwo-Shyh Song, from The Institute of Oceanography at The National Taiwan University, in Taipei, is one local researcher who is very familiar with these methods. "I have been working on seafloor mapping around the Taiwan Island for last 20 years," points out Song. "This includes geophysical surveys, reservoir siltation surveys, cable and pipeline route surveys using a variety of techniques like multi-beam sounders and side-scan sonar as well as chirp sub-bottom profilers." When the offshore wind farming initiative needed experienced local researchers, he was one of a few people with the prerequisite expertise and technical skill required. "In 2012, when the OWF project was set into action and promoted by the Taiwanese Government, myself and my graduated students now employed within Global Aqua Survey Ltd started to become involved with many related investigatory projects," he explains.
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M. Ahmed, Yasser, Omar Yaakob, and Bong K. Sun. "Design of a New Low Cost ROV Vehicle." Jurnal Teknologi 69, no. 7 (July 15, 2014). http://dx.doi.org/10.11113/jt.v69.3262.
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Remotely operated underwater vehicles which are also known as ROVs are a type of underwater robot vehicle which is widely used in the offshore industry or other applications. The main purpose of this type of tethered underwater mobile robots are tosupersede human to work at hard-to-access or jeopardizing underwater region to do certain specific tasks like to survey a site, search for an item or person that has tremendous value. The remote control of ROV is usually carried out through copper or fiber optic cables which are known as umbilical cables. In this research work a low cost ROV unit has been designed and constructed at UniversitiTeknologi Malaysia (UTM). The ROV was constructed by low cost material like commercial grade polyvinyl chloride (PVC) pipes. The low cost ROV is equipped with a network camera and manoeuvred by three motors through 12 volts battery power supply. The ROV is controlled by joystick controller through network cable and is able to submerge up to 20meters intowater to perform underwater observation operation.