Three-dimensional ocean sensor networks: A survey

The past decade has seen a growing interest in ocean sensor networks because of their wide applications in marine research,oceanography,ocean monitoring,offshore exploration,and defense or homeland security.Ocean sensor networks are generally formed with various ocean sensors,autonomous underwater vehicles,surface stations,and research vessels.To make ocean sensor network applications viable,efficient communication among all devices and components is crucial.Due to the unique characteristics of underwater acoustic channels and the complex deployment environment in three dimensional(3D) ocean spaces,new efficient and reliable communication and networking protocols are needed in design of ocean sensor networks.In this paper,we aim to provide an overview of the most recent advances in network design principles for 3D ocean sensor networks,with focuses on deployment,localization,topology design,and position-based routing in 3D ocean spaces.     

应用神经网络建立水下拖曳体轨迹姿态水动力控制模型

以拖曳体的拖曳水池样机试验取得试验数据作为训练样本,采用LMBP算法,建立基于神经网络理论构建的可控制水下拖曳体轨迹与姿态水动力控制数值模型,并进行LMBP模型仿真检验。结果表明,利用所建全的神经网络模型对拖曳体在一定控制动作下的水动力响应预报是令人满意的。     

ON LONG-WAVES BREAKING Ⅱ.IN A HALF INFINITE CHANNEL WITH BOTTOM SLOPE

The propagation of long-waves, such as tidal waves from the coastal oceam into shallow estuarine waters,often produces asymmetries of veolcity and water level in time series resulting in long-wave breaking.Tian (1994) studied the mechanism of long-wave breaking in an infinite channel with constant depth,considering nth power bottom friction. This study is for the case of a half infinite channel with bottomslope, taking linear bottom friction into account. The wave breaking time and wave breaking location areestimated and the criteria for long-wave breaking in this particular case are obtained. The results obtainedcan also be e asily applied to the case considering wind stress.     

On Long-waves breaking II. in a half infinite channel with bottom slope

The propagation of long-waves, such as tidal waves from the coastal ocean into shallow estuarine waters, often produces asymmetries of velocity and water level in time series resulting in long-wave breaking. Tian (1994) studied the mechanism of long-wave breaking in an infinite channel with constant depth, consideringnth power bottom friction. This study is for the case of a half infinite channel with bottom slope, taking linear bottom friction into account. The wave breaking time and wave breaking location are estimated and the criteria for long-wave breaking in this particular case are obtained. The results obtained can also be easily applied to the case considering wind stress.     

Sound propagation in two-axis underwater channel based on beam-displacement ray-mode theory

Sound propagation in a deep ocean two-axis underwater channel is often complex and difficult to simulate between surface channel and sound fixing and ranging (SOFAR) channel. The beam-displacement ray-mode (BDRM) theory is a normal mode method for propagation modeling in horizontally stratified shallow water. An improved method for computing the upper boundary reflection coefficient in the BDRM is proposed and applied to calculate the acoustic fields of a two-axis underwater channel. Transmission losses in the two-axis underwater channel are calculated in the new BDRM. The corresponding results are in good agreement with those from the Kraken code, and furthermore the computed speed of the new BDRM excels the other methods.     

DESIGN OF MODULATION AND COMPRESSION CODING IN UNDERWATER ACOUSTIC IMAGE TRANSMISSION

This paper describes the design of modulation, compression coding and transmission control in underwater acoustic color image transmission system. This design adapts a special system of modulation and transmission control based on a DSP(Digital Signal Processing) chip, to cope with the complex underwater acoustic channel. The hardware block diagram and software flow chart are presented.     

Real-Time Position and Attitude Estimation for Homing and Docking of an Autonomous Underwater Vehicle Based on Bionic Polarized Optical Guidance

As an important tool for marine exploration, the autonomous underwater vehicle(AUV) must home in and dock at a docking station(DS) to be recharged, repaired, or to exchange information at set intervals. However, the complex and hostile underwater environment makes this process challenging. This study proposes a real-time method based on polarized optical guidance for determining the position and attitude of the AUV relative to its DS. Four polarized artificial underwater landmarks are positioned at the DS, which are recognized by the AUV vision system. Compared with light intensity, the polarization of a light beam is known to be better maintained at greater propagation distances, especially in underwater environments. The proposed method, which is inspired by the ability of marine animals to communicate, calculates the pose parameters in less than 10 ms without any other navigational information. The simulation results reveal that the angle errors are small and the position errors are no more than 0.116 m within 100 m in the coastal ocean. The results of underwater experiments further demonstrate the feasibility of the proposed method, which extends the operating distance of the AUV beyond what is currently possible while maintaining the precision of traditional optical guidance.     

Bathymetry and bottom albedo retrieval using Hyperion: a case study of Thitu Island and reef

The Spratly （Nansha） Islands in the South China Sea have considerable economic and important militarily strategic status. Ocean color remote sensing is an effective mean of surveying and research and especially it is useful for areas that are difficult to access, such as Thitu Island and its reef in the Spratly Islands. The Hyper-spectral Optimization Process Exemplar （HOPE） model, developed by Lee et al. （1999） is a rapid and robust bathymetry method that uses hyper-spectral remote sensing. In this study, using Hyperion hyper-spectral sensor data and HOPE, we derive bathymetry and bottom albedo measurements around Thitu Island and its reef. We compare the distribution of bottom depths from C-MAP with that derived from the Hyperion data. The retrieved bathymetry results correlate well with the distribution obtained from the bathymetry contour from 2.0 to 20 m. The average difference between Hyperion and C-MAP for two selected transects was 17.1% （n=59, R=0.848, RMSE=2.342） and 10.9% （n=59, R2=0.834, RMSE=0.463）. The retrieved bottom albedo is homogeneous in the lagoon and significantly non-homogeneous around the lagoon. These results indicate that HOPE could be very useful for bathymetry studies for the islands of the South China Sea.     

On long-wave breaking I. Consideringnth power bottom friction

Longwave breaking is the agent for many important upper ocean layer processes including the transfer of horizontal momentum. In a previous study on the process of longwave breaking, only linear bottom friction was considered. In this paper, we discuss the longwave breaking phenomena in the more general case ofnth power bottom friction. Using the theory of blowup of solution, the criterion for the time and location of the longwave breaking can be obtained. Contribution No. 2559 from the Institute of Oceanology, Chinese Academy of Sciences. This project was supported by NSFC (No. 49376254).     

基于无人船测量系统的水下地形测量研究与应用

随着测深技术、GNSS技术、高精密传感器集成化的发展,无人船测量系统为水下地形测量提供了新的思路。结合山东省高密市王吴水库,探讨了无人船水下地形测量的作业流程,通过对比分析,选择最优测线间距获取数据,通过差值分析进行精度评价,数据处理后对成果进行展示。研究区结果表明,无人船测量系统基于单波束测深在中型水库中的应用是十分理想的,测深数据质量较好,能够很好地反映库区的水下地形情况,无人船测量系统在水下地形测量中起着重要作用。     

ON LONG-WAVE BREAKING Ⅰ.CONSIDERING nTH POWER BOTTOM FRICTION

Longwave breaking is the agent for many important upper ocean layer processes including the trans-fer of horizontal momentum. In a previous study on the process of longwave breaking, only linear bot-tom friction was considered.In this paper, we discuss the longwave breaking phenomena in the moregeneral case of nth power bottom friction. Using the theory of blowup of solution,the criterion for thetime and location of the longwave breaking can be obtained.     

基于模糊控制的快速循迹智能车的设计与实现

提出基于模糊控制的快速循迹智能车的实现方法.利用转速传感器、线阵CCD、舵机等构成一个闭环控制系统,并采用PI算法控制智能车后轮速度.采用模糊控制算法将线阵CCD返回的误差模糊化,然后按照MAX-MIN规则进行逻辑推理,最后将推理结果反模糊化后以控制舵机转向.实验结果证明了该方法的有效性.     

Oxidation Modification of Polyacrylonitrile-Based Carbon Fiber and Its Electro-Chemical Performance as Marine Electrode for Electric Field Test

A novel sensor for ocean electric field testing has been fabricated by polyacrylonitrile-based on carbon fibers with electro-chemical oxidation.The surface profile characteristics of the carbon fibers were characterized by scanning electron microscope,Fourier transform infrared spectra and contact angle.Cyclic voltammetry and Tafel curves have been used to study its electro-chemical performances.Two identical electrodes in sea water as the electric field sensor will swiftly respond to applied electric field which causes positive and negative ions to move in opposite direction,resulting in a electric potential difference(ΔE).Test result indicates that the offset potential is typically below 1 m V with a drift of 60-170μVd^-1.Typical self noise level is 1.07 nV√Hz^1/2@1 Hz.The electric field response indicates that the modified electrode pair shows better response to AC sine signal of amplitude and frequency(5 mV and 1 mHz)respectively than its blank.The electric field response model of the modified electrodes is creatively presented according to its electric double layer capacitance and Faraday pseudo-capacitance.Many advantages of the carbon fiber electric field electrode will make it have potential application prospect.     

A FVCOM-based unstructured grid wave, current, sediment transport model, I. Model description and validation

An effort was made to couple FVCOM (a three-dimensional (3D),unstructured grid,Finite Volume Coastal Ocean Model) and FVCOM-SWAVE (an unstructured grid,finite-volume surface wave model) for the study of nearshore ocean processes such as tides,circulation,storm surge,waves,sediment transport,and morphological evolution.The coupling between FVCOM and FVCOM-SWAVE was achieved through incorporating 3D radiation stress,wave-current-sediment-related bottom boundary layer,sea surface stress parameterizations,and morphology process.FVCOM also includes a 3D sediment transport module.With accurate fitting of irregular coastlines,the model provides a unique tool to study sediment dynamics in coastal ocean,estuaries,and wetlands where local geometries are characterized by inlets,islands,and intertidal marsh zones.The model was validated by two standard benchmark tests: 1) spectral waves approaching a mild sloping beach and 2) morphological changes of seabed in an idealized tidal inlet.In Test 1,model results were compared with both analytical solutions and laboratory experiments.A further comparison was also made with the structured grid Regional Ocean Model System (ROMS),which provides an insight into the performance of the two models with the same open boundary forcing.     

L2-LBMT: A Layered Load Balance Routing Protocol for underwater multimedia data transmission

Providing highly efficient underwater transmission of mass multimedia data is challenging due to the particularities of the underwater environment. Although there are many schemes proposed to optimize the underwater acoustic network communication protocols, from physical layer, data link layer, network layer to transport layer, the existing routing protocols for underwater wireless sensor network (UWSN) still cannot well deal with the problems in transmitting multimedia data because of the difficulties involved in high energy consumption, low transmission reliability or high transmission delay. It prevents us from applying underwater multimedia data to real-time monitoring of marine environment in practical application, especially in emergency search, rescue operation and military field. Therefore, the inefficient transmission of marine multimedia data has become a serious problem that needs to be solved urgently. In this paper, A Layered Load Balance Routing Protocol (L2-LBMT) is proposed for underwater multimedia data transmission. In L2-LBMT, we use layered and load-balance Ad Hoc Network to transmit data, and adopt segmented data reliable transfer (SDRT) protocol to improve the data transport reliability. And a 3-node variant of tornado (3-VT) code is also combined with the Ad Hoc Network to transmit little emergency data more quickly. The simulation results show that the proposed protocol can balance energy consumption of each node, effectively prolong the network lifetime and reduce transmission delay of marine multimedia data.     

ROV based underwater blurred image restoration

1　Introduction　TheROV (RemoteOperatedVehicle)isakindofsystemthatcanbeusedforunderwatermeasurementanddetection (Caimi,1996 ;KevernandLeGall,1991) .Inthispaper ,theirradianceofthelightre flectedbythetargetthroughwaterbodiesindifferentconditionsissimulatedbyacomputer .Underdiffer entwaterconditions,therelationbetweentheirradi anceandthedistanceispresented .Thenthemaxi mumdetectiondistanceofthedetectorcanbeob tained .WealsorestoretheunderwaterblurryimagesusingtheWienerfilterbasedonthesimula…     

Magnetic susceptibility variations of the Ediacaran cap carbonates in the Yangtze platform and their implications for paleoclimate

Magnetic susceptibility (MS) data were obtained from 11 sections of the Doushantuo (Ediacaran) cap carbonate that directly overlies the Nantuo glacial diamictite in the southeastern margin of the Yangtze platform. The MS data revealed two regionally correlatable peaks at the bottom and top of the cap carbonate, separated by an interval of low values. The lower MS peak coincides with high percentage of insoluble siliciclastic residues that are compositionally identical to the matrix of the underlying diamictite, suggesting its origin controlled mainly by detrital components during the first phase of cap carbonate deposition at the end of the glaciation. The upper MS peak is associated with high clay content and iron sulfides, and can be interpreted as either derived from enhanced greenhouse weathering that could have brought more terrigenous components into the ocean, or the result of ocean anoxia at the late stage of cap carbonate deposition that could led to formation of abundant iron sulfides. The regionally consistent MS curves from the cap carbonates provided the first geophysical record for the rapid climate change from icehouse to greenhouse conditions in the aftermath of the Neoproterozoic “snowball Earth” event.     

The development of a new real-time subsurface mooring

Subsurface mooring allows researchers to measure the ocean properties suchas water te mperature,salinity,and velocity at several depths of the water column for a long period.Traditional subsurface mooring can release data only after recovered,which constrains the usage of the subsurface and deep layer data in the ocean and climate predictions.Recently,we developed a new real-time subsurface mooring(RTSM).Velocity profiles over upper 1 000 m depth and layered data from sensors up to 5 000 m depth can be realtime transmitted to the small surface buoy through underwater acoustic communication and then to the office through Beidou or Iridium satellite.To verify and refine their design and data transmission process,we deployed more than 30 sets of RTSMs in the western Pacific to do a 1-year continuous run during2016-2018.The continuous running period of RTSM in a 1-year cycle can reach more than 260 days on average,and more than 95% of observed data can be successfully transmitted back to the office.Compared to the widely-used inductive coupling communication,wireless acoustic communication has been shown more applicable to the underwater sensor network with large depth intervals and long transmission distance to the surface.     

Design and implementation of a 3D ocean virtual reality and visualization engine

In this study,a 3D virtual reality and visualization engine for rendering the ocean,named VV-Ocean,is designed for marine applications.The design goals of VV-Ocean aim at high fidelity simulation of ocean environment,visualization of massive and multidimensional marine data,and imitation of marine lives.VV-Ocean is composed of five modules,i.e.memory management module,resources management module,scene management module,rendering process management module and interaction management module.There are three core functions in VV-Ocean:reconstructing vivid virtual ocean scenes,visualizing real data dynamically in real time,imitating and simulating marine lives intuitively.Based on VV-Ocean,we establish a sea-land integration platform which can reproduce drifting and diffusion processes of oil spilling from sea bottom to surface.Environment factors such as ocean current and wind field have been considered in this simulation.On this platform oil spilling process can be abstracted as movements of abundant oil particles.The result shows that oil particles blend with water well and the platform meets the requirement for real-time and interactive rendering.VV-Ocean can be widely used in ocean applications such as demonstrating marine operations,facilitating maritime communications,developing ocean games,reducing marine hazards,forecasting the weather over oceans,serving marine tourism,and so on.Finally,further technological improvements of VV-Ocean are discussed.     

APPLICATION OF NONLINEAR MULTI-CHANNEL ALGORITHMS FOR ESTIMATING SEA SURFACE TEMPERATURE WITH NOAA 14 AVHRR DATA

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