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Search results for: UNDERWATER%20ACOUSTIC%20COMMUNICATIONS
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Underwater Acoustic Imaging of the Sea
PublicationAcoustic waves are a carrier of information mainly in environments where the use of other types of waves, for example electromagnetic waves, is limited. The term acoustical imaging is widely used in the ultrasonic engineering to imaging areas in which the acoustic waves propagate. In particular, ultrasound is widely used in the visualization of human organs - ultrasonography (Nowicki, 2010). Expanding the concept, acoustical imaging...
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Inertial Sensors Applications in Underwater Measurements
PublicationOver the past decades microelectromechanical systems (MEMS) researchers have demonstrated a number of microsensors for almost every possible sensing modality, including attitudes. Current MEMS inertial measurement units (IMU) come in many shapes, sizes, and costs — depending on the application, and performance required. MEMS sensors have proved and demonstrated performance exceeding those of their macroscale counterpart sensors. In...
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Underwater Welding of Duplex Stainless Steel
PublicationThe present work was conducted to assess the weldability of duplex stainless steel at underwater conditions. Interest of underwater welding of this steel grade is connected with necessity of preparing welding repair technologies for subsea pipelines widely used in offshore oil and gas industry. The GMA local cavity welding method was used in the investigations. Welded beads were performed underwater at 0.5 m depth and in the air....
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Weldability of S500MC Steel in Underwater Conditions
PublicationWet welding with the use of covered electrodes is one of the methods of underwater welding. This method is the oldest, the most economic and the most versatile. The main difficulties during underwater wet welding are: high cooling rates of the joint, the presence of hydrogen in the arc area and formation of hard martensitic structure in the weld. These phenomena are often accompanied by porosity of welds and large number of spatters,...
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Considerations of Adaptive Digital Communications in Underwater Acoustic Channel
PublicationDown-link communication (DLC) and air transportable communication (ATAC) buoys as well as autonomous underwater vehicles (AUV) use acoustic links for gathering oceanographic data from underwater monitoring systems. The underwater channel propagation conditions are diverse in nature and require a special adaptive approach to the communication system design. The article presents a methodology for the communication systems design,...
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Transmission parameters of underwater communication channels
PublicationThe underwater environment is tough and demanding as a communication channel for ultrasonic signals. The channel transmission characteristics in marine and inland waters depend much on local bathymetry and changing weather conditions. The architecture and performance of a reliable underwater acoustic communication (UAC) system should allow real-time adaptation of its transmission parameters to a large variety of possible channel...
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Application of OFDM technique to underwater acoustic data transmission
PublicationPerformances of underwater acoustic communication (UAC) digital systems are strongly related to specific transmission properties of the underwater channel. Depending on the characteristics of the channel, an architecture and modulation techniques are usually implemented that are known as reliable solutions for data transmission in difficult radio channels. The OFDM technique seems to be the most promising nowadays. The parameters...
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RESEARCH ON ORGANIC COATINGS DESIGNED FOR UNDERWATER APPLICATIONS
PublicationUnderwater steel structures require periodic maintenance. In the case of vessels, anti-corrosion works are carried out in the shipyard, where very good conditions for applying organic protective coatings can be provided. Very good surface preparation can be obtained by the use of abrasive blasting. The well-prepared metal surface is free from impurities (particularly inorganic salts). Suitable conditions for the application and...
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Integration of inertial sensors and GPS system data for underwater navigation
PublicationThe Inertial Navigation System (INS) is usually employed to determine the position of an underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently, Autonomous Underwater Vehicle (AUV). The accuracy of the position provided by the INS, which uses accelerometers and gyroscopes, deteriorates with time. An external aiding sources such as the Global Positioning System (GPS) can be employed to reduce the error growth...
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Small rov to detection and identification of dangerous underwater objects
PublicationA small unmanned underwater vehicle (UUV) to inspection of an undersea space is presented in the paper. Its behavior is controlled by a trained pilot. Correct detection and identification of targets depends on vehicle'sprecise displacement along a predefined route. Nowadays, the UUVs are equipped with an automatic control system to execute some basic maneuvers without constant human interventions. Hence, in the paper, an autopilot...
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The development of an underwater telephone for digital communication purposes
PublicationThe underwater telephone HTL-10 has been designed to provide voice and data communication between helicopter and submarines using acoustic waves. It works in a half-duplex mode and uses analogue power-efficient modulation in the form of a single side-band, suppressed carrier, in a wide range of frequencies. It generates the transmitted signal, and processes the received signals. It is implemented with the use of digital signal...
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Dissimilar underwater wet welding of HSLA steels
PublicationThe high-strength low-alloy S460ML and S460N steels were chosen for underwater wet welding of dissimilar T-joints using covered electrodes. For improving the quality of joints, the temper bead welding (TBW) method was used. The application of TBW in pad welding conditions has been investigated earlier but the possibility of usage of this technique in welded joints was not analyzed. The main aim of the study was to check the influence...
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Reliable underwater communication system for shallow coastal waters
PublicationThis paper presents a reliable and robust low data rate spread spectrum approach which is implemented in the acoustic underwater communication system for shallow coastal waters. It shows operation assumptions of spread spectrum techniques based on the wellknown Shannon equation. It describes two methods of spread spectrum: frequency hopping spread spectrum and direct sequence spread spectrum; their block diagram and their characteristics...
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Shallow Water Experiment of OFDM Underwater Acoustic Communications
PublicationThe large variability of communication properties of underwater acoustic channels, and especially the strongly varying instantaneous conditions in shallow waters, is a challenge for the designers of underwater acoustic communication (UAC) systems. The use of phase modulated signals does not allow reliable data transmission through such a tough communication channel. However, orthogonal frequency-division multiplexing (OFDM), being...
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CFD and FEM model of an underwater vehicle propeller
PublicationDuring the project execution of design and optimization the Remotely Operated Vehicle (ROV) research on its propulsion has been carried out. The entire project was supported by CFD and FEM calculations, which taking into account the characteristics of underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to...
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Underwater Acoustic Communications in Time-Varying Dispersive Channels
PublicationUnderwater acoustic communication (UAC) system designers tend to transmit as much information as possible, per unit of time, at as low as possible error rate. However, the bit rate achieved in UAC systems is much lower than for wire or radio-communication systems. This is due to disadvantageous properties of the UAC channels, namely the sea and inland waters. Estimation of UAC channel transmission properties is possible within...
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Limitations of WSSUS modeling of stationary underwater acoustic communication channel
PublicationPerformances of underwater acoustic communication (UAC) systems are strongly related to specific propagation conditions of the underwater channel. Due to their large variability, there is a need for adaptive matching of the UAC systems signaling to the transmission properties of the channel. This requires a knowledge of instantaneous channel characteristics, in terms of the specific parameters of stochastic models. The wide-sense...
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Synchronization system for underwater acoustic communications using in shallow waters
PublicationA reliable synchronization system of the transmitted data frame has a significant impact on the efficiency of the underwater communication system. This applies in particular to communication systems dedicated to work in shallow waters, where the phenomenon of multipath permanently occurs. To overcome these difficulties, the concept of a synchronization system consisting of two broadband signals of opposite monotonicity was presented....
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Tracking of the broadband source of the underwater noise in the very shallow water conditions
PublicationThe paper contains the result s, both theoretical and experimental , connected with the tracking of the underwater noise source as small ships, pontoon , diver and so on. The pro blem of security in the shallow water area is the challenge for underwater acousticians. In this paper there is take n into account the detection of the sources that move on the surface of the sea or underwater in shallow...
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Bead-on-Plate Underwater Wet Welding on S700MC Steel
PublicationThe participation of high strength steels in marine and offshore structures is increasing, which makes it necessary to develop recommendations for underwater repair welding works. The article presents the results of bead-on-plate welded specimens made of S700MC high strength steel in underwater wet welding conditions by covered elec- trodes. Three specimens with heat input values in the range 0.91-1.05 kJ/mm were made. The specimens...
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Role of bead sequence in underwater welding
PublicationThis paper presents examinations of the role of the bead sequence in underwater welding. Two specimens of wet welded layers made by covered electrodes with the use of normalized S355G10+N steel were welded by a reasonable bead sequence. For each specimen, metallographic macro- and micro-scopic tests were done. Then, Vickers HV10 hardness measurements were conducted for each pad weld in the welded layer. The results show that welding...
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Underwater Navigation System Based on Doppler Shifts of a Continuous Wave
PublicationThe paper describes a concept of an underwater navigation system designed to determine the location and speed of its ROVs or divers. Conducted by the Department of Marine Electronic Systems at the Gdansk University of Technology for several years, research has focused on navigation systems which determine positions on the basis of Doppler shifts of echo signals reflected from a moving object. This article presents a different version...
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THE EFFECT OF WET UNDERWATER WELDING ON COLD CRACKING SUSCEPTIBILITY OF DUPLEX STAINLESS STEEL
PublicationABSTRACT The present work was conducted to assess the weldability of duplex stainless steel in underwater conditions. Metal manual arc welding (MMA) with the use of coated electrodes was used in the investigations. Tekken weldability tests were performed underwater at 0.5 m depth and in the air. Nondestructive tests, metallographic examinations of welds, ferrite content assessment in microstructure and hardness test were performed....
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A New Fuzzy Sliding Mode Controller with PID Sliding Surface for Underwater Manipulators
PublicationDesign of an accurate and robust controller is challenging topic in underwater manipulator control. This is due to hydrodynamic disturbances in underwater environment. In this paper a sliding mode control (SMC) included a PID sliding surface and fuzzy tunable gain is designed. In this proposed controller robustness property of SMC and fast response of PID are incorporated with fuzzy rules to reduce error tracking. In the control...
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Influence of selected additives and admixtures on underwater concrete and the environment
PublicationThe intensive civilization development has an influence on searching for new possibilities connected with extension of city agglomerations, both the areas of flat building and the industrial areas. One of the most interesting solution is to use water reservoirs, rivers and sea areas. The extension of buildings has an influence on building materials, especially hydrotechnical, which means development of production of hydrotechnical...
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3D Imaging Of Underwater Objects Using Multi-Beam Data
PublicationOne of the main applications of multibeam sonars is high resolution bathymetry measurement, as well as detecting and imaging of underwater objects like shipwrecks. In order to obtain the visualisation quality good enough to allow the researcher to investigate an object in more detail, the approach relying on construction of three-dimensional model of an imaged object, e.g. consisting of nodes, edges and plane elements (facets)...
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Underwater Local Cavity Welding of S460N Steel
PublicationIn this paper, a comparison of the mechanical properties of high-strength low-alloy S460Nsteel welded joints is presented. The welded joints were made by the gas metal arc welding (GMAW)process in the air environment and water, by the local cavity welding method. Welded joints were testedfollowing the EN ISO 15614-1:2017 standard. After welding, the non-destructive—visual, penetrant,radiographic, and ultrasonic (phased array) tests...
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Triangular 3D Laser Scanning in Underwater Photogrammetry
PublicationThe use of triangular 3D laser scanning may significantly enhance the visual inspection of underwater objects. In these days of high demand for accurate information, exclusively photographic documentation is not enough, as it is geometrically flawed. The authors of this article are trying to present the rudiments of laser scanning, a modern means of measuring, which is reliable, relatively easy to use and works in accordance with...
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Underwater Wet Repair Welding of API 5L X65M Pipeline Steel
PublicationThis paper presents results of the research of effect of polymer insulation of pipeline made of API 5L X65M steel as well as underwater wet welding parameters on properties of joints made by covered electrodes. Effect of heat input on structure and hardness of joints during repair of underwater pipeline was analyzed. Welding defects like microcracks, micro-lacks of fusion, slag inclusions, as well as HAZ hardness increase over...
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Wake-Up Receiver for Underwater Acoustic Communication Using in Shallow Water
PublicationA data frame transmitted over the underwater acoustic channel usually begins with a preamble. Therefore, underwater communication systems have a dedicated receiver that constantly listens to the preamble signals. A receiver that is to work effectively in shallow waters must have solutions that effectively reduce the impact of the permanently occurring multipath propagation. The article presents a solution based on complementary...
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Underwater Navigation Ssystem Based on Doppler Shift – Measurements and Error Estimations
PublicationA new acoustic navigation system was developed to determine the position and speed of moving underwater objects such as divers and underwater vehicles. The path of an object and its speed were determined by the Doppler shifts of acoustic signals emitted by a transmitter placed on the object and received by four hydrophones installed at the periphery of the monitored body of water. The position and speed measurements were affected...
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Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle
PublicationThe article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence...
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Probe signal processing for channel estimation in underwater acoustic communication system
PublicationUnderwater acoustic communication channels are characterized by a large variety of propagation conditions. Designing a reliable communication system requires knowledge of the transmission parameters of the channel, namely multipath delay spread, Doppler spread, coherence time, and coherence bandwidth. However, the possibilities of its estimation in a realtime underwater communication system are limited, mainly due to the computational...
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Seafloor Characterisation Using Underwater Acoustic Devices
PublicationThe problem of seafloor characterisation is important in the context of management as well as investigation and protection of the marine environment. In the first part of the paper, a review of underwater acoustic technology and methodology used in seafloor characterisation is presented. It consists of the techniques based on the use of singlebeam echosounders and seismic sources, along with those developed for the use of sidescan...
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UNDERWATER NOISE GENERATED BY A SMALL SHIP IN THE SHALLOW SEA
PublicationStudy of the sea noise has been a subject of interest for years. The first work of this scope were published at the turn of the twentieth century by Knudsen (KNUDSEN et al., 1948) and G. Wenz (WENZ, 1962). Disturbances called "shipping noise" are one of the important components of the sea noise. In this work the results of an experimental research of underwater noise produced by a small ship of a classic propulsion are...
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Underwater wet welding of S1300 ultra-high strength steel
PublicationMarine Structures Volume 81, January 2022, 103120 Underwater wet welding of S1300 ultra-high strength steel Author links open overlay panelJacekTomkówGrzegorzRogalski https://doi.org/10.1016/j.marstruc.2021.103120 Get rights and content Under a Creative Commons licenseopen access Highlights • Technological method of S1300 steel underwater weldability improving was proposed. • Number of cracks and hardness of welded joints was...
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Reconstruction Methods for 3D Underwater Objects Using Point Cloud Data
PublicationExisting methods for visualizing underwater objects in three dimensions are usually based on displaying the imaged objects either as unorganised point sets or in the form of edges connecting the points in a trivial way. To allow the researcher to recognise more details and characteristic features of an investigated object, the visualization quality may be improved by transforming the unordered point clouds into higher order structures....
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SLIDING MODE-PID FUZZY CONTROLLER WITH A NEW REACHING MODE FOR UNDERWATER ROBOTIC MANIPULATORS
PublicationDesign of an accurate and robust controller is a challenging topic in an underwater manipulator control. This is due to hydrodynamic disturbances in underwater environment. In this paper a sliding mode control (SMC) included a PID sliding surface and fuzzy tunable gain is designed. In this proposed controller robustness property of SMC and fast response of PID are incorporated with fuzzy rules to reduce error tracking. In the...
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Underwater acoustic communication system using broadband signal with hyperbolically modulated frequency
PublicationThe implementation of reliable acoustic underwater communication in shallow waters is a scientific and engineering challenge, mainly due to the permanent occurrence of the multipath phenomenon. The article presents the concept of a transmission system using a broadband signal with hyperbolically modulated frequency (HFM) to transmit data symbols and synchronize data frames. The simulation tests were carried out in channels with...
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ADAPTIVE IDENTIFICATION OF TIME-VARYING IMPULSE RESPONSE OF UNDERWATER ACOUSTIC COMMUNICATION CHANNEL
PublicationThe transmission properties of underwater acoustic communication channel can change dynamically due to the movement of acoustic system transmitter and receiver or underwater objects reflecting transmitted signal. The time-varying impulse response measurement and estimation are necessary to match the physical layer of data transmission to instantaneous channel propagation conditions. Using the correlative measurement method, impulse...
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Testing the Wide-Sense Stationarity of Bandpass Signals for Underwater Acoustic Communications
PublicationThe Underwater Acoustic Communication (UAC) systems work in communication channels characterized by a large variety of multipath propagation conditions that can additionally change over time. Designing a reliable communication system requires knowledge of the transmission parameters of the channel. There is a need for the development of adaptive signaling schemes that would dynamically optimize the signal parameters of the physical...
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Cold Cracking Of Underwater Wet Welded S355G10+N High Strength Steel
PublicationWater as the welding environment determines some essential problems influencing steel weldability. Underwater welding of high strength steel joints causes increase susceptibility to cold cracking, which is an effect of much faster heat transfer from the weld area and presence of diffusible hydrogen causing increased metal fragility. The paper evaluates the susceptibility to cold cracking of the high strength S355G10+N steel used,...
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Neural Networks, Support Vector Machine and Genetic Algorithms for Autonomous Underwater Robot Support
PublicationIn this paper, artificial neural networks, a classification technique called support vector machine and meta-heuristics genetic algorithm have been considered for development in autonomous underwater robots. Artificial neural networks have been used for seabed modelling as well as support vector machine has been applied for the obstacles classification to avoid some collision problems. Moreover, genetic algorithm has been applied...
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APPLICATION POSSIBILITIES OF THE S960 STEEL IN UNDERWATER WELDED STRUCTURES
PublicationIn this paper, the application possibilities of the ultra-high strength (UHSS). Domex 960 steel in the underwater welded structures are analyzed. In the research, the investigated material has been tested in bead-on-plate wet welding conditions with the usage of different heat input values, namely 0.63 kJ/mm, 0.72 kJ/mm and 0.93 kJ/mm. Specimens were performed by the manual metal arc (MMA) welding method with the usage of rutile...
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Thermo-Mechanical Simulation of Underwater Friction Stir Welding of Low Carbon Steel
PublicationThis article investigates the flow of materials and weld formation during underwater friction stir welding (UFSW) of low carbon steel. A thermo-mechanical model is used to understand the relation between frictional heat phenomena during the welding and weld properties. To better understand the effects of the water environment, the simulation and experimental results were compared with the sample prepared by the traditional friction...
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An optimal sliding mode control based on immune-wavelet algorithm for underwater robotic manipulator
PublicationIn this paper, a robust optimal Sliding Mode Controller (SMC) based on new algorithm of Artificial Immune System (AIS) is proposed for trajectory tracking of underwater manipulators. A new AIS algorithm is used to derive optimal values of surface parameters and boundary layer thickness in SMC with considering minimum torques and error. Surface parameters and boundary layer thickness are considered as antibody in AIS and Morlet...
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Bead-on-plate welding on S235JR steel by underwater local dry chamber process
PublicationThe article presents the results of the effect of parameters of underwater local dry chamber welding on the properties of padding welds. The effect of heat input and the type of shielding gas on the structure and hardness of welds was established. the functions for estimating the maximum hardness of the heat affected zone have been also elaborated.
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Underwater welding - a review
PublicationW artykule przedstawiono stan obecny oraz perspektywy rozwoju technik spawania pod wodą. Przeanalizowano najważniejsze problemy spawania w środowisku wodnym. Przedstawiono najważniejsze kierunki badań spawania podwodnego podejmowane w Katedrze Technologii Materiałów Maszynowych i Spawalnictwa Politechniki Gdańskiej
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Underwater Processing of Materials
PublicationEditorial do SI
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Weldability of S460ML High Strength Low Alloy Steel in Underwater Conditions
PublicationThe paper presents experimental evaluation of susceptibility of the high strength S460ML steel to cold cracking in the conditions of wet welding with the use of covered electrodes. From the results of Tekken tests it was found out that the investigated steel was characterised, in the conditions of the carried out experiments (underwater wet welding and air welding with rutile electrodes), of high susceptibility to cold cracking....