Underwater simultaneous localization and mapping based on forward-looking sonar

A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions.In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigation error.     

一种基于PSO优化HWFCM的快速水下图像分割算法

The S/N of an underwater image is low and has a fuzzy edge.If using traditional methods to process it directly,the result is not satisfying.Though the traditional fuzzy C-means algorithm can sometimes divide the image into object and background,its time-consuming computation is often an obstacle.The mission of the vision system of an autonomous underwater vehicle (AUV) is to rapidly and exactly deal with the information about the object in a complex environment for the AUV to use the obtained result to execute the next task.So,by using the statistical characteristics of the gray image histogram,a fast and effective fuzzy C-means underwater image segmentation algorithm was presented.With the weighted histogram modifying the fuzzy membership,the above algorithm can not only cut down on a large amount of data processing and storage during the computation process compared with the traditional algorithm,so as to speed up the efficiency of the segmentation,but also improve the quality of underwater image segmentation.Finally,particle swarm optimization (PSO) described by the sine function was introduced to the algorithm mentioned above.It made up for the shortcomings that the FCM algorithm can not get the global optimal solution.Thus,on the one hand,it considers the global impact and achieves the local optimal solution,and on the other hand,further greatly increases the computing speed.Experimental results indicate that the novel algorithm can reach a better segmentation quality and the processing time of each image is reduced.They enhance efficiency and satisfy the requirements of a highly effective,real-time AUV.     

Underwater image bidirectional matching for localization based on SIFT

For the purpose of identifying the stern of the SWATH （Small Waterplane Area Twin Hull） availably and perfecting the detection technique of the SWATH ship＇s performance, this paper presents a novel bidirectional image registration strategy and mosaicing technique based on the scale invariant feature transform （SIFT） algorithm. The proposed method can help us observe the stern with a great visual angle for analyzing the performance of the control fins of the SWATH. SIFT is one of the most effective local features of the scale, rotation and illumination invariant. However, there are a few false match rates in this algorithm. In terms of underwater machine vision, only by acquiring an accurate match rate can we find an underwater robot rapidly and identify the location of the object. Therefore, firstly, the selection of the match ratio principle is put forward in this paper; secondly, some advantages of the bidirectional registration algorithm are concluded by analyzing the characteristics of the unidirectional matching method. Finally, an automatic underwater image splicing method is proposed on the basis of fixed dimension, and then the edge of the image＇s overlapping section is merged by the principal components analysis algorithm. The experimental results achieve a better registration and smooth mosaicing effect, demonstrating that the proposed method is effective.     

Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles

This paper describes path re-planning techniques andunderwater obstacle avoidance for unmanned surface vehicle （USV）based on multi-beam forward looking sonar （FLS）. Near-optimalpaths in static and dynamic environments with underwaterobstacles are computed using a numerical solution procedure basedon an A algorithm. The USV is modeled with a circular shape in 2degrees of freedom （surge and yaw）. In this paper, two-dimensional（2-D） underwater obstacle avoidance and the robust real-time pathre-planning technique for actual USV using multi-beam FLS aredeveloped. Our real-time path re-planning algorithm has beentested to regenerate the optimal path for several updated frames inthe field of view of the sonar with a proper update frequency of theFLS. The performance of the proposed method was verifiedthrough simulations, and sea experiments. For simulations, theUSV model can avoid both a single stationary obstacle, multiplestationary obstacles and moving obstacles with the near-optimaltrajectory that are performed both in the vehicle and the worldreference frame. For sea experiments, the proposed method for anunderwater obstacle avoidance system is implemented with a USVtest platform. The actual USV is automatically controlled andsucceeded in its real-time avoidance against the stationary underseaobstacle in the field of view of the FLS together with the GlobalPositioning System （GPS） of the USV.     

Segmentation of complex objects’ sonar images using parameter-fixed MRF model

1 Introduction1 Imaging sonar has been widely used in the case of mine finding, underwater seeking and sound vision system of AUV as an important method. Therefore the object recognition based on sonar image, especially complex object, is one of the impor…     

Texture image classification using multi-fractal dimension

This paper presents a supervised classification method of sonar image, which takes advantages of both muhi-fractal theory and wavelet analysis. In the process of feature extraction, image transformation and wavelet decomposition are combined and a feature set based on multi-fractal dimension is obtained. In the part of classifier construction, the Learning Vector Quantization (LVQ) network is adopted as a classifier. Experiments of sonar image classification were carried out with satisfactory resuits, which verify the effectiveness of this method.     

Application of ML to System Identification for Underwater Vehicle

In this paper, maximum-likelihood (ML) and its relaxation algorithm, which are used to identify the mathematicsmodel of an underwater vehicle(UV), arc discussed. With the trial data of zigzag tests, the hydrodynamic derivatives of theUV were estimated, and the relaxation algorithm is confirmed to have better astringency from the contrast between the twomethods.Then a simulation environment based on these parameters is established to verify the validity and effect of these meth-ods. The result shows the model is credible and the methods are very useful for the research of maneuverability and adaptivecontrol of underwater vehicles.     

Asymmetric regular sampling SPWM method based on tangent-secant midpoint approximation applied to intermediate frequency inverter power supply北大核心CSCD

［Objective］In order to reduce the switching frequency of an intermediate frequency inverter power supply, ensure the quality of the output waveform and realize digitalization easily, a SPWM sampling method based on a tangent-secant midpoint approximation is proposed. ［Methods］It is proven by deduction that the quantitative relationship of the natural sampling method can be approximated, and a Matlab/Simulink simulation model is built. The algorithm is designed and applied to an intermediate frequency inverter device, and the correctness of the proposed method is verified in the two aspects of simulation and experiment. ［Results］The simulation results show that the total harmonic distortion (THD) of the output waveform based on the tangent-secant midpoint approximation method is 2.64%, lower than the 3.99% of the symmetrical regular sampling method. The waveform quality of the tangent-secant midpoint approximation method is obviously better than that of the symmetrical regular sampling method, as it not only reduces the switching frequency but also takes into account the requirements of THD. ［Conclusions］SPWM sampling based on tangent-secant midpoint approximation is applied to the intermediate frequency power supply and is able to effectively overcome the shortcomings of the low-quality output waveform and high switching frequency of the symmetrical regular sampling method. Both theoretical analysis and engineering practice verify the rationality and correctness of the proposed method, and it can be widely extended to the field of intermediate frequency power supply installation. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Classification of underwater target echoes based on auditory perception characteristics

In underwater target detection, the bottom reverberation has some of the same properties as the target echo, which has a great impact on the performance. It is essential to study the difference between target echo and reverberation. In this paper, based on the unique advantage of human listening ability on objects distinction, the Gammatone filter is taken as the auditory model. In addition, time-frequency perception features and auditory spectral features are extracted for active sonar target echo and bottom reverberation separation. The features of the experimental data have good concentration characteristics in the same class and have a large amount of differences between different classes, which shows that this method can effectively distinguish between the target echo and reverberation.     

Energy Optimization of the Fin/Rudder Roll Stabilization System Based on the Multi-objective Genetic Algorithm (MOGA)

Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm(MOGA) method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.     

水下地形辅助导航中局部地形特征的快速提取方法（英文）

Terrain matching accuracy and real-time performance are affected by local underwater terrain features and structure of matching surface. To solve the extraction problem of local terrain features for underwater terrain-aided navigation(UTAN), real-time data model and selection method of beams are proposed. Then, an improved structure of terrain storage is constructed, and a fast interpolation strategy based on index is proposed, which can greatly improve the terrain interpolation–reconstruction speed.Finally, for the influences of tide, an elimination method of reference depth deviation is proposed, which can reduce the reference depth errors caused by tidal changes. As the simulation test shows, the proposed method can meet the requirements of real-time performance and effectiveness. Furthermore, the extraction time is considerably reduced, which makes the method suitable for the extraction of local terrain features for UTAN.     

Morphological Research on Geometrical Scattering Waves of an Underwater Target

In this paper, a new method based on morphologic research named reconstruction cross-component removal(RCCR) is developed to analyze geometrical scattering waves of an underwater target. Combining the origin of the cross-component in Wigner-Ville distribution, the highlight model of target echoes and time-frequency features of linear frequency-modulated signal can remove cross-components produced by multiple component signals in Wigner-Ville distribution and recover the auto-components of output signals. This method is used in experimental data processing, which can strengthen the real geometric highlights, and restrain the cross components. It is demonstrated that this method is helpful to analyze the geometrical scattering waves, providing an effective solution to underwater target detection and recognition.     

舰船气泡尾流数值模拟(英文)

Based on a volume of fluid two-phase model imbedded in the general computational fluid dynamics code FLUENT6.3.26, the viscous flow with free surface around a model-scaled KRISO container ship (KCS) was first numerically simulated. Then with a rigid-lid-free-surface method, the underwater flow field was computed based on the mixture multiphase model to simulate the bubbly wake around the KCS hull. The realizable k-ε two-equation turbulence model and Reynolds stress model were used to analyze the effects of turbulence model on the ship bubbly wake. The air entrainment model, which is relative to the normal velocity gradient of the free surface, and the solving method were verified by the qualitatively reasonable computed results.     

Research on framework for formation control of multiple underwater robots in a dynamic environment

In this paper a practical framework is proposed to keep formation control of multiple underwater robots in a dynamic environment. The approach is a viable solution to solve formation problem. The approach allows online planning of the formation paths using a Dijkstra‘s search algorithm based on the current sensor data. The formation is allowed to be dynamically changed in order to avoid obstacles in the environment. A controller is designed to keep the robots in their planned trajectories. It is shown that the approach is effective and feasible by the simulation of computer.     

Robust digital image watermarking against shearing based on haar orthogonal function system

In this paper, a robust digital watermarking method against shearing based on Haar orthogonal function system was introduced. The proposed method adopted the complete generalized orthogonal properties of Haar orthogonal function system to achieve the piece -based orthogonal transform on the image. The significant middle frequency coefficients in the transformation matrix are picked up, based on characteristics of the image visual system and the Haar orthogonal transform. The watermark is adoptively weighed to the middle frequency matrix. The method improves the validity of watermarking and shows excellent advantage against shearing attack. Experimental results show that the Haar orthogonal function system based watermark approach can provide an excellent protection under geometric attacks.     

海床对海洋管道涡旋脱落和受力系数的影响（英文）

The effect of rigid bed proximity on flow parameters and hydrodynamic loads in offshore pipelines exposed to turbulent flow is investigated numerically. The Galerkin finite volume method is employed to solve the unsteady incompressible 2 D Navier–Stokes equations. The large eddy simulation turbulence model is solved using the artificial compressibility method and dual time-stepping approach. The proposed algorithm is developed for a wide range of turbulent flows with Reynolds numbers of 9500 to 1.5×104. Evaluation of the developed numerical model shows that the proposed technique is capable of properly predicting hydrodynamic forces and simulating the flow pattern. The obtained results show that the lift and drag coefficients are strongly affected by the gap ratio. The mean drag coefficient slightly increases as the gap ratio increases, although the mean lift coefficient rapidly decreases. The vortex shedding suppression happen at the gap ratio of less than 0.2.     

Direction of arrival estimation of coherent sources based on arbitrary plane arrays

A method of direction of arrival （DOA） estimation of coherent sources is proposed, which is based on arbitrary plane arrays. After constructing the mathematical model of coherent sources, virtual array transformation and MUSIC algorithm are used to realize the azimuth estimation of coherent sources, which improved the DOA estimation performance greatly. According to the computer simulation, its validity is confirmed.     

Measuring the effectiveness of methods for evaluating noise jammers

Reliable evaluations of a noise jammer's effectiveness are necessary to properly design, manufacture, and operate one, so it is important to have an evaluation model. Based on their characteristics and principles, relevant factors were classified in terms of their contribution to a unit's effectiveness. In this way an evaluation index system was established. In the proposed mathematical model a noise jammer is analyzed by combining the model of system effectiveness with the method of analytic hierarchical process. A simulation of underwater acoustic countermeasures was used to test the rationality and feasibility of the model. The results showed that this model is an effective way to solve the challenge of evaluating the effectiveness of non-offensive weapons under single working phase.