Electric detection of divers in harbor environments

Lennartsson, R.K.; Dalberg, E.; Fristedt, Tim; Nolander, E.; Persson, Leif

doi:10.23919/oceans.2009.5422404

Cited by 6 publications

(2 citation statements)

References 2 publications

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“…These waves are then analyzed in the frequency domain to detect periodic bursts of low-frequency sound waves pertaining to the diver's breathing or movements. A similar methodology is used by underwater ROVs that use electric-field sensors to detect the presence of divers within a short range (Lennartsson et al, 2009).…”

Section: Perceptionmentioning

confidence: 99%

Person-following by autonomous robots: A categorical overview

Islam

Hong

Sattar

2019

The International Journal of Robotics Research

105

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A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working environments and applications pose diverse challenges by adding constraints on the choice of sensors, the degree of autonomy, and dynamics of a person-following robot. Researchers have addressed these challenges in many ways and contributed to the development of a large body of literature. This paper provides a comprehensive overview of the literature by categorizing different aspects of person-following by autonomous robots. Also, the corresponding operational challenges are identified based on various design choices for ground, underwater, and aerial scenarios. In addition, state-of-the-art methods for perception, planning, control, and interaction are elaborately discussed and their applicability in varied operational scenarios are presented. Then, some of the prominent methods are qualitatively compared, corresponding practicalities are illustrated, and their feasibility is analyzed for various usecases. Furthermore, several prospective application areas are identified, and open problems are highlighted for future research.

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Section: Perceptionmentioning

confidence: 99%

Person-following by autonomous robots: A categorical overview

Islam

Hong

Sattar

2019

The International Journal of Robotics Research

105

View full text Add to dashboard Cite

show abstract

“…In shallow water, the electric field signal has better stability than the acoustic signal. In addition, continuous improvements in acoustic stealth make it meaningful for mine weapons, underwater detection nodes and other similar devices to detect or track targets based on the underwater electric field signal [3].…”

Section: Introductionmentioning

confidence: 99%

Ship Target Tracking Using Underwater Electric Field

Peng¹,

Jin-fang²,

Zhang³

2019

PIER M

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Underwater electric field is an important source of exposure for warship targets, so we try to track the ship's movement by measuring its underwater electric field in this paper. Considering the nonlinear distribution characteristics of underwater electric field, the unscented particle filter method is applied for tracking. First, the equivalent electric field model based on point-electrodes methods is studied. Second, the equivalent electric field model of a scaled ship is used as the electric field source, and the source's movement is tracked by measuring the three components of the underwater electric field induced by the source. To meet the requirements of mine applications, only one measuring node is used in the tracking process. The numerical simulation result shows that the target can be tracked stably within 200 meters of the measuring node. Finally, a sea trail experiment is carried out to examine the effectiveness of this method. In this experiment, the electric field source is composed by two graphite electrodes, and only the horizontal components of underwater electric field are measured. The results show that the tracking performance is good within 150 m of the measuring node.

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Passive acoustic detection of a small remotely operated vehicle

Cai

Bingham

2011

OCEANS 2011 IEEE - Spain

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This project quantifies the feasibility of passive acoustic detection of a small commercial off-the-shelf (COTS) remotely operated vehicle (ROV) by experimentally characterizing the acoustic signature and hydrodynamic flow associated with the motion of ROV.Three experiments are conducted as parts of this characterization in this project.These trials are conducted in a small laboratory test tank, a larger outdoor test tank and a shallow-water coastal ocean environment. The laboratory tank test consists of a stationary hydrophone to detect the acoustic emissions, while simultaneously measuring the flow field using particle image velocimetry (PIV) system. Based on a variety of maneuvers in the test tank, the experiments are quantified by the acoustic signatures of the ROV. Also, we predict the capabilities of acoustically detecting an ROV in typical ocean environments such as shallow-water, ports and harbors, and deep-ocean environment. In addition, this thesis reports the results of a series of underwater detection trials in the field to verify the laboratory demonstration and analytical moderns. The intention is to experimentally measure the signal-to-noise ratio (SNR) of the ROV acoustic signature, as a function of distance between the ROV and acoustic receivers in the shallow-water ocean environment.On the basis of experimental analysis, we present that the most significant contribution for ROV acoustic detection is from electric motors with signal frequency range of around 400-500 Hz. The detectable distance range with ambient noise at 116 dB re 1 uPa is between 15 m and 22 m away in a noisy littoral environment. Combined with the experimental analysis, we state the comparison between the acoustic predicted levels of the ROV with the measured results.Finally, this project demonstrates the feasibilities of acoustical detection of a small ROV in the port environment. As a result, we conclude the experimental studies with later highlights and future research.iii DEDICATION To my dearest dad, mom and the whole familyWho love me and support me unconditionally iv ACKNOWLEDGMENTS

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Electric detection of divers in harbor environments

Cited by 6 publications

References 2 publications

Person-following by autonomous robots: A categorical overview

Person-following by autonomous robots: A categorical overview

Ship Target Tracking Using Underwater Electric Field

Passive acoustic detection of a small remotely operated vehicle

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