Curved shape reconstruction using multiple hypothesis tracking

Panoramic sweeps produced by a scanning range sensor often defy interpretation using conventional line-of-sight models, particularly when the environment contains curved, specularly reflective surfaces. Combining multiple scans from different vantage points provides geometric constraints necessary to solve this problem, but not without introducing new difficulties. Existing multiple scan implementations, for the most part, ignore the data correspondence issue. The multiple hypothesis tracking (MHT) algorithm explicitly deals with data correspondence. Given canonical observations extracted from raw scans, the MHT applies multiple behavior models to explain their evolution from one scan to the next. This technique identifies different topological features in the world to which it assigns the corresponding measurements. We apply the algorithm to real sonar scans generated specifically for this investigation. The experiments consist of interrogating a variety of two-dimensional prismatic objects, standing on end in a 1.2-m-deep freshwater tank, from multiple vantage points using a 1.25 MHz profiling sonar system. The results reflect the validity of the algorithm under the initial assumptions and its gradual performance degradation when these assumptions fail to characterize the environment adequately. We close with recommendations that detail extending the approach to handle more natural underwater settings     

Effectiveness of data assimilation using probabilistic techniques in a model for synoptic velocity field evolution

The results of numerical experiments involving data assimilation by linear and non-linear models for synoptic ocean dynamics are presented. This paper considers the model's response to data assimilation at diverse values of the relative error in the determination of the initial fields and space-time discreteness of data assimilation. The data obtained using the optimal filtering are compared with those provided by the optimal interpolation (OI). A qualitative difference in the response of the linear and non-linear models to data assimilation is noted. The limiting values of the time-space discreteness of observations assimilation are determined, which allow correct application of OI.Translated by Vladimir A. Puchkin.     

Robust tracking of multiple objects in sector-scan sonar imagesequences using optical flow motion estimation

The fast update rate and good performance of new generation electronic sector scanning sonars is now allowing practicable use of temporal information for signal processing tasks such as object classification and motion estimation. Problems remain, however, as objects change appearance, merge, maneuver, move in and out of the field of view, and split due to poor segmentation. This paper presents an approach to the segmentation, two-dimensional motion estimation, and subsequent tracking of multiple objects in sequences of sector scan sonar images. Applications such as ROV obstacle avoidance, visual servoing, and underwater surveillance are relevant. Initially, static and moving objects are distinguished in the sonar image sequence using frequency-domain filtering. Optical flow calculations are then performed on moving objects with significant size to obtain magnitude and direction motion estimates. Matches of these motion estimates, and the future positions they predict, are then used as a basis for identifying corresponding objects in adjacent scans. To enhance robustness, a tracking tree is constructed storing multiple possible correspondences and cumulative confidence values obtained from successive compatibility measures. Deferred decision making is then employed to enable best estimates of object tracks to be updated as subsequent scans produce new information. The method is shown to work well, with good tracking performance when objects merge, split, and change shape. The optical flow is demonstrated to give position prediction errors of between 10 and 50 cm (1%-5% of scan range), with no violation of smoothness assumptions using sample rates between 4 and 1 frames/s     

Robust leader-follower formation tracking control of multiple underactuated surface vessels

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy.     

黑潮延续体区域多源观测资料的海洋涡旋的统计对比分析

本文首次利用海面温度、海面高度异常和表面漂流浮标数据等多元观测资料定量比较了获取的涡旋特征要素。结果表明：虽然不同数据源得出的涡旋统计特征具有一定的差异,但具有相似的分布特征。在此基础上,还发现该研究区域存在异常涡旋（逆时针旋转的暖涡和顺时针旋转的冷涡）。     

Signal enhancement and multiple suppression using Radon transform: an application to marine multichannel seismic data

Radon filters are often used for removal of multiple reflections from normal move-out-corrected seismic reflection data. In the conventional Radon transform, integration surfaces are hyperbolic rather than linear. This specific hyperbolic surface is equivalent to a parabola in terms of computational expense, but more accurately distinguishes multiples from primary reflections. The forward transform separates seismic arrivals by their differences in travel time move-out. Multiples can be suppressed by an inverse transform of the seismic data. Examples show that multiples are effectively attenuated in pre-stack and stacked seismograms. Based on the parabolic Radon transform, a new method is utilized for missing offset restoration, resampling and regularization of pre-stack individual common depth point (CDP) gathers. The method is also valid for resampling spatially aliased seismic data. Restoration of missing offsets and trace interpolation is an interesting and important problem in seismic data processing. Here we present an application of Radon transform on a multichannel seismic data set from the western continental margin of India (WCMI), which shows remarkable signal enhancement.     

Detection of buried targets using a synthetic aperture sonar

This paper presents observations of buried target detections made using a 20-kHz synthetic aperture sonar. At grazing angles below the critical angle, surprisingly high signal-to-noise detections were made of cylindrical targets buried at depths of 15 and 50 cm. During a separate set of measurements, buried spheres were clearly seen at steep grazing angles, but were generally not seen below the critical angle. Since scattering from wave-generated sand ripples may contribute to detections at grazing angles below critical angle, the information available on the ripple fields is discussed and used in acoustic backscatter simulations for the buried spheres. Lack of information on the ripple height precludes a definitive explanation for the absence of buried sphere detections at subcritical grazing angles.     

基于风浪联合概率模型的海洋平台结构系统可靠度分析

基于多变量极值理论的联合概率模型,根据BZ28—1油田一年多的风浪同步观测资料统计得到风浪联合概率分布及其参数,讨论了海洋平台结构系统可靠度分析的等效荷载方法,在此基础上分析了JZ20—2MUQ平台结构的系统可靠度,并与不考虑风浪相关性影响的JZ20—2MUQ平台结构的系统可靠度比较,得到了风浪相关性对系统可靠度的影响情况。     

跨南海西南次海盆OBS、多道地震与重力联合调查

对跨南海西南次海盆及两侧陆缘的一条1050km长的、包括海底地震(OBS)、长排列多道地震和重磁在内的综合地球物理探测剖面(CFT)进行了构造成像和研究。在多道地震成像基础上建立了CFT剖面初始速度模型, 进而通过初至波层析成像方法反演了CFT剖面的速度结构模型, 在重力异常资料的约束下建立了CFT剖面的综合地壳结构模型。讨论了沿CFT剖面出现的下地壳高速体、龙门海山的低密度物质等地质问题。结果表明, 下地壳高速层在北部陆坡、西南海盆和南部南沙地块均有分布, 厚度在0~4km之间, 可能与陆缘下地壳物质和地幔物质熔融混合, 以及深海盆海底扩张期间构造拉伸导致地幔蛇纹岩化有关。     

基于追踪数据的全球中尺度涡旋偶极子自动识别方法

海洋中的涡旋在传播过程中相互吸引并以偶极子的形式进行传播是一种常见的海洋现象,这些偶极子在输送海水、养分和其他物质方面发挥着重要作用。本文提出了一种基于海表面高度异常数据得到的涡旋轨迹数据的全球偶极子自动识别方法。通过使用K–D树切割空间的方法,对1993年1月至2016年9月间的涡旋轨迹数据进行计算,共发现了生命周期超过了60 d的86 662对向西运动的偶极子和30 590对向东运动的偶极子。结合提取结果,本文对偶极子在全球范围内的特性进行了统计分析,并结合海表面温度异常、盐度异常数据验证了自动识别算法的可靠性。最后,本文分析了具有伴随时间长、传播速度快、纠缠传播特点的偶极子传输模式和传播特性。     

Experimental investigation of the hydrodynamics in pockmarks using particle tracking velocimetry

Water tank experiments were performed in order to investigate the behaviour of currents in pockmarks. A particle-seeded flow was visualised and quantified with the aid of the particle tracking velocimetry technique. The employed analogue pockmark is a 1:100 idealised scale model of a natural pockmark, while the highest Reynolds number in the experiments was one order of magnitude smaller than in nature. Interaction of the flow with the pockmark geometry resulted in an upwelling current downstream of the pockmark centre, along with enhanced water turbulence in the depression. Scaling-up the experimental measurements, it is found that the upwelling would be capable of preventing the settling of particles as large as very fine sand. Furthermore, the increased turbulence would support the suspended fine material, which can thus be transported away before settling. The net effect for a variable-direction near-bed current over long periods of time would be to winnow the settling sediments and reduce the sedimentation rate in pockmarks. These mechanisms may be responsible for the observed lack of sediment infill and the typical presence of relatively coarser sediments inside pockmarks compared to the surrounding bed. In contrast, sediments transported as bedload are likely to be deposited in pockmarks because of the weakening of near-bed currents as well as lateral flow convergence associated with the upwelling. Bedload, however, may not be the dominant mode of sediment transport in areas covered by cohesive sediments, where pockmarks are found.     

Prediction of consolidation parameter using multiple regression analysis

Since existing empirical formulas have been proposed without clear verification of normality, they involve very high uncertainty in their design parameters. Therefore, in the present study, marine clay regions located in river estuary regions with deep soft layers were selected as study subject regions, the normality of those soil investigation data that were relatively highly reliable was verified, simple regression analyses of the data were conducted to propose prediction formulas, and the results from the prediction formulas were compared with the results from existing empirical formulas. Multiple regression analyses were conducted and the results indicated that regression models composed of G_S, e_o, LL were statistically significant in explaining compression indexes in both regions. It can be seen that the structures of the models presented in the present study changed depending on soil properties. In particular, because of diverse features of soil, G_S had negative effects on C_C in the case of Pusan while having positive effects on C_C in the case of Kwangyang. In addition, the results of tests of equality between regional models rejected the null hypothesis indicating that parameters were statistically significantly different between the two regions.     

Segmentation methods for visual tracking of deep-ocean jellyfish using a conventional camera

This paper presents a vision algorithm that enables automated jellyfish tracking using remotely operated vehicles (ROVs) or autonomous underwater vehicles (AUVs). The discussion focuses on algorithm design. The introduction provides a novel performance-assessment tool, called segmentation efficiency, which aids in matching potential vision algorithms to the jelly-tracking task. This general-purpose tool evaluates the inherent applicability of various algorithms to particular tracking applications. This tool is applied to the problem of tracking transparent jellyfish under uneven time-varying illumination in particle-filled scenes. The result is the selection of a fixed-gradient threshold-based vision algorithm. This approach, implemented as part of a pilot aid for the Monterey Bay Aquarium Research Institute's ROV Ventana, has demonstrated automated jelly tracking for as long as 89 min.     

利用MATLAB实时处理GPS数据

利用MATLAB软件环境,现场接收并实时处理海上地球物理调查过程中的GPS定位数据,剔除原始数据中的跳点,处理定位误差。采用样条拟合对测线进行拟合光滑,绘制各步处理结果的图形,并将处理前后的航向、航速数据及由此计算出的Eotvos改正值绘制成的曲线进行比较,结果表明:由原始数据计算得到的定位误差较大,与实际船体航行的轨迹有一定差距,而用经过MATLAB处理后的数据计算得到的定位误差较小,航向、航速等与船体航行的真实航迹接近,由此计算出的Eotvos改正值的精度也达到了海上重力测量中Eotvos改正的要求,保证了地球物理数据的质量。     

Resistant performance of perforation of multi-layered targets using an estimation procedure with marine application

Recently, multi-layered targets have become commonplace in both military and civilian applications, such as marine hulls, armored vehicle bodies, outside structures of bulletproof cars, and aerospace vessels. This paper studies the resistant performance of perforation in multi-layered targets. An estimation procedure is established based on the concepts of the conservation of momentum, impulse-momentum law, and conservation of energy. Experimental results of the test of Almohandes et al. are adopted to check the residual velocity of multi-layered targets. The results of the verification are good in terms of agreement for impact velocities ranging from 700 to 800 m/s, when the ratio of the projectile length to the projectile diameter (i.e. L/D) is 4.2, and the average residual velocity error of single, double- or triple-layered targets range approximately from 4.42 to 8.40%. The ballistic performance is best for the double target when the ratio of the first layer thickness to the total thickness (i.e. t₁/(t₁+t₂)) is about 0.75, and the worse performance occurs when the ratio t₁/(t₁+t₂) is 0.5. An air gap slightly influences the resistant performance of perforation in multi-layered targets. These results may serve as a useful reference for designers.