Abstract: A magnetic induction based underwater communication
link is evaluated using an analytical model and a custom
Finite-Difference Time-Domain (FDTD) simulation tool. The
analytical model is based on the Sommerfeld integral, and a full-wave
simulation tool evaluates Maxwell’s equations using the FDTD
method in cylindrical coordinates. The analytical model and FDTD
simulation tool are then compared and used to predict the system
performance for various transmitter depths and optimum frequencies
of operation. To this end, the system bandwidth, signal to noise
ratio, and the magnitude of the induced voltage are used to estimate
the expected channel capacity. The models show that in seawater, a
relatively low-power and small coils may be capable of obtaining a
throughput of 40 to 300 kbps, for the case where a transmitter is at
depths of 1 to 3 m and a receiver is at a height of 1 m.
Abstract: This paper provides a robust stabilization method
for rotational motion of underwater robots against parameter
uncertainties. Underwater robots are expected to be used for
various work assignments. The large variety of applications of
underwater robots motivates researchers to develop control systems
and technologies for underwater robots. Several control methods
have been proposed so far for the stabilization of nominal system
model of underwater robots with no parameter uncertainty. Parameter
uncertainties are considered to be obstacles in implementation of the
such nominal control methods for underwater robots. The objective
of this study is to establish a robust stabilization method for rotational
motion of underwater robots against parameter uncertainties. The
effectiveness of the proposed method is verified by numerical
simulations.
Abstract: This paper introduces the applicability of underwater
photogrammetric survey within challenging conditions as the main
tool to enhance and enrich the process of documenting archaeological
excavation through the creation of 4D models. Photogrammetry was
being attempted on underwater archaeological sites at least as early
as the 1970s’ and today the production of traditional 3D models is
becoming a common practice within the discipline. Photogrammetry
underwater is more often implemented to record exposed underwater
archaeological remains and less so as a dynamic interpretative tool. Therefore, it tends to be applied in bright environments and
when underwater visibility is > 1m, reducing its implementation
on most submerged archaeological sites in more turbid conditions.
Recent years have seen significant development of better digital
photographic sensors and the improvement of optical technology,
ideal for darker environments. Such developments, in tandem with
powerful processing computing systems, have allowed underwater
photogrammetry to be used by this research as a standard recording
and interpretative tool. Using multi-source photogrammetry (5,
GoPro5 Hero Black cameras) this paper presents the accumulation of
daily (4D) underwater surveys carried out in the Early Bronze Age
(3,300 BC) to Late Ottoman (17th Century AD) archaeological site of
Ropotamo in the Bulgarian Black Sea under challenging conditions
(< 0.5m visibility). It proves that underwater photogrammetry can
and should be used as one of the main recording methods even in low
light and poor underwater conditions as a way to better understand
the complexity of the underwater archaeological record.
Abstract: The 2-MHz Side Scan SONAR (SSS) attached to the boat for inspection of underwater structures is affected by shaking. It is difficult to determine the exact scale of damage of structure. In this study, a motion sensor is attached to the inside of the 2-MHz SSS to get roll, pitch, and yaw direction data, and developed the image stabilization tool to correct the sonar image. We checked that reliable data can be obtained with an average error rate of 1.99% between the measured value and the actual distance through experiment. It is possible to get the accurate sonar data to inspect damage in underwater structure.
Abstract: In order to improve the efficiency and accuracy of the pressure hull structure, optimization of underwater vehicle based on response surface methodology, a method for optimizing the design of pressure hull structure was studied. To determine the pressure shell of five dimensions as a design variable, the application of thin shell theory and the Chinese Classification Society (CCS) specification was carried on the preliminary design. In order to optimize variables of the feasible region, different methods were studied and implemented such as Opt LHD method (to determine the design test sample points in the feasible domain space), parametric ABAQUS solution for each sample point response, and the two-order polynomial response for the surface model of the limit load of structures. Based on the ultimate load of the structure and the quality of the shell, the two-generation genetic algorithm was used to solve the response surface, and the Pareto optimal solution set was obtained. The final optimization result was 41.68% higher than that of the initial design, and the shell quality was reduced by about 27.26%. The parametric method can ensure the accuracy of the test and improve the efficiency of optimization.
Abstract: In a nuclear reactor, an array of fuel rods containing stacked uranium dioxide pellets clad with zircalloy is the heat source for a thermodynamic cycle of energy conversion from heat to electricity. After fuel is used in a nuclear reactor, the assemblies are stored underwater in a spent nuclear fuel pool at the nuclear power plant while heat generation and radioactive decay rates decrease before it is placed in packages for dry storage or transportation. A computational model of a Boiling Water Reactor spent fuel assembly is modeled using FLUENT, the computational fluid dynamics package. Heat transfer simulations were performed on the two-dimensional 9x9 spent fuel assembly to predict the maximum cladding temperature for different input to the FLUENT model. Uncertainty quantification is used to predict the heat transfer and the maximum temperature profile inside the assembly.
Abstract: With the rapid development of subsea oil and gas exploitation, the demand for the related underwater process equipment is increasing fast. In order to reduce the energy consuming, people tend to separate the gas and oil phase directly on the seabed. Accordingly, an advanced separator is needed. In this paper, the pressure drop of a new type of separator named Gas Liquid Cylindrical Cyclone (GLCC) which is used in the subsea system is investigated by both experiments and numerical simulation. In the experiments, the single phase flow and gas-liquid two phase flow in GLCC were tested. For the simulation, the performance of GLCC under both laboratory and industrial conditions was calculated. The Eulerian model was implemented to describe the mixture flow field in the GLCC under experimental conditions and industrial oil-natural gas conditions. Furthermore, a relationship among Euler number (Eu), Reynolds number (Re), and Froude number (Fr) is generated according to similarity analysis and simulation data, which can present the GLCC separation performance of pressure drop. These results can give reference to the design and application of GLCC in deep sea.
Abstract: In this study, the effect of expansive additives on autogenous shrinkage and delayed expansion of ultra-high strength mortar was explored. The specimens made for the study were composed of ultra-high strength mortar, which was mixed with ettringite-lime composite type expansive additive. Two series of experiments were conducted with the specimens. The experimental results confirmed that the autogenous shrinkage of specimens was effectively decreased by increasing the proportion of the expansive additive. On the other hand, for the specimens, which had 7% expansive additive, and were cured for seven days at a constant temperature of 20°C, and then cured for a long time in either in an underwater, moist (Relative humidity: 100%) or dry air (Relative humidity: 60%) environment, excessively large expansion strain occurred. Specifically, typical turtle shell-like swelling expansion cracks were confirmed in the specimens that underwent long-term curing in an underwater and moist environment. According to the result of hydration analysis, the formation of expansive substances, calcium hydroxide and alumina, ferric oxide, tri-sulfate contribute to the occurrence of delayed expansion.
Abstract: Friction stir welding is the new-fangled and cutting-edge technique in welding applications; it is widely used in the fields of transportation, aerospace, defense, etc. For thriving significant welding joints and properties of friction stir welded components, it is essential to carry out this advanced process in a prescribed systematic procedure. At this moment, Underwater Friction Stir Welding (UFSW) Process is the field of interest to do research work. In the continuous assessment, the study of UFSW process is to comprehend problems occurred in the past and the structure through which the mechanical properties of the welded joints can be value-added and contributes to conclude results an acceptable and resourceful joint. A meticulous criticism is given on how to modify the experimental setup from NFSW to UFSW. It can discern the influence of tool materials, feeds, spindle angle, load, rotational speeds and mechanical properties. By expending the DEFORM-3D simulation software, the achieved outcomes are validated.
Abstract: Underwater acoustic networks have attracted great
attention in the last few years because of its numerous applications.
High data rate can be achieved by efficiently modeling the physical
layer in the network protocol stack. In Acoustic medium,
propagation speed of the acoustic waves is dependent on many
parameters such as temperature, salinity, density, and depth.
Acoustic propagation speed cannot be modeled using standard
empirical formulas such as Urick and Thorp descriptions. In this
paper, we have modeled the acoustic channel using real time data of
temperature, salinity, and speed of Bay of Bengal (Indian Coastal
Region). We have modeled the acoustic channel by using Mackenzie
speed equation and real time data obtained from National Institute of
Oceanography and Technology. It is found that acoustic propagation
speed varies between 1503 m/s to 1544 m/s as temperature and
depth differs. The simulation results show that temperature, salinity,
depth plays major role in acoustic propagation and data rate
increases with appropriate data sets substituted in the simulated
model.
Abstract: In this study, the commercial finite element software
ABAQUS was used to develop a three-dimensional nonlinear finite
element model capable of simulating the pull-out test of reinforcing
bars from underwater concrete. The results of thirty-two pull-out tests
that have different parameters were implemented in the software to
study the effect of the concrete cover, the bar size, the use of stirrups,
and the compressive strength of concrete. The interaction properties used in the model provided accurate
results in comparison with the experimental bond-slip results, thus
the model has successfully simulated the pull-out test. The results of
the finite element model are used to better understand and visualize
the distribution of stresses in each component of the model, and to
study the effect of the various parameters used in this study including
the role of the stirrups in preventing the stress from reaching to the
sides of the specimens.
Abstract: This paper describes a sliding mode controller for
autonomous underwater vehicles (AUVs). The dynamic of AUV
model is highly nonlinear because of many factors, such as
hydrodynamic drag, damping, and lift forces, Coriolis and centripetal
forces, gravity and buoyancy forces, as well as forces from thruster.
To address these difficulties, a nonlinear sliding mode controller is
designed to approximate the nonlinear dynamics of AUV and
improve trajectory tracking. Moreover, the proposed controller can
profoundly attenuate the effects of uncertainties and external
disturbances in the closed-loop system. Using the Lyapunov theory
the boundedness of AUV tracking errors and the stability of the
proposed control system are also guaranteed. Numerical simulation
studies of an AUV are included to illustrate the effectiveness of the
presented approach.
Abstract: This paper presents modeling and simulation of
flexible robot in an underwater environment. The underwater
environment completely contrasts with ground or space environment.
The robot in an underwater situation is subjected to various dynamic
forces like buoyancy forces, hydrostatic and hydrodynamic forces.
The underwater robot is modeled as Rayleigh beam. The developed
model further allows estimating the deflection of tip in two
directions. The complete dynamics of the underwater robot is
analyzed, which is the main focus of this investigation. The control of
robot trajectory is not discussed in this paper. Simulation is
performed using Symbol Shakti software.
Abstract: In this research article of modeling Underwater
Wireless Sensor Network Simulators, we provide a comprehensive
overview of the various currently available simulators used in UWSN
modeling. In this work, we compare their working environment,
software platform, simulation language, key features, limitations and
corresponding applications. Based on extensive experimentation and
performance analysis, we provide their efficiency for specific
applications. We have also provided guidelines for developing
protocols in different layers of the protocol stack, and finally these
parameters are also compared and tabulated. This analysis is
significant for researchers and designers to find the right simulator
for their research activities.
Abstract: Recently, there is a lot of interest in the field of under
water optical wireless communication for short range because of
its high bandwidth. But in most of the previous works line of
sight propagation or single scattering of photons only considered.
In practical case this is not applicable because of beam blockage in
underwater and multiple scattering also occurred during the photons
propagation through water. In this paper we consider a non-line
of sight underwater wireless optical communication system with
multiple scattering and examine the performance of the system using
monte carlo simulation. The distribution scattering angle of photons
are modeled by Henyey-Greenstein method. The average bit error
rate is calculated using on-off keying modulation for different water
types.
Abstract: The western Tombolo of the Giens peninsula in
southern France, known as Almanarre beach, is subject to coastal
erosion. We are trying to use computer simulation in order to propose
solutions to stop this erosion. Our aim was first to determine the main
factors for this erosion and successfully apply a coupled hydrosedimentological
numerical model based on observations and
measurements that have been performed on the site for decades.
We have gathered all available information and data about waves,
winds, currents, tides, bathymetry, coastal line, and sediments
concerning the site. These have been divided into two sets: one
devoted to calibrating a numerical model using Mike 21 software, the
other to serve as a reference in order to numerically compare the
present situation to what it could be if we implemented different
types of underwater constructions.
This paper presents the first part of the study: selecting and
melting different sources into a coherent data basis, identifying the
main erosion factors, and calibrating the coupled software model
against the selected reference period.
Our results bring calibration of the numerical model with good
fitting coefficients. They also show that the winter South-Western
storm events conjugated to depressive weather conditions constitute a
major factor of erosion, mainly due to wave impact in the northern
part of the Almanarre beach. Together, current and wind impact is
shown negligible.
Abstract: Underwater acoustic network is one of the rapidly
growing areas of research and finds different applications for
monitoring and collecting various data for environmental studies. The
communication among dynamic nodes and high error probability in
an acoustic medium forced to maximize energy consumption in
Underwater Sensor Networks (USN) than in traditional sensor
networks. Developing energy-efficient routing protocol is the
fundamental and a curb challenge because all the sensor nodes are
powered by batteries, and they cannot be easily replaced in UWSNs.
This paper surveys the various recent routing techniques that mainly
focus on energy efficiency.
Abstract: This study compared the mechanical and microstructural properties produced during friction stir welding (FSW) of S275 structural steel in air and underwater. Post weld tests assessed the tensile strength, micro-hardness, distortion, Charpy impact toughness and fatigue performance in each case. The study showed that there was no significant difference in the strength, hardness or fatigue life of the air and underwater specimens. However, Charpy impact toughness was shown to decrease for the underwater specimens and was attributed to a lower degree of recrystallization caused by the higher rate of heat loss experienced when welding underwater. Reduced angular and longitudinal distortion was observed in the underwater welded plate compared to the plate welded in air.
Abstract: A polypropylene hollow fiber membrane module is used for separating dissolved gases which contain dissolved oxygen from water. These dissolved gases can be used for underwater breathing. To be used for a human, the minimum amount of oxygen is essential. To increase separation of dissolved gases, much water and high surface area of hollow fibers are requested. For efficient separation system, performance of single membrane module with high surface area needs to be investigated.
In this study, we set up experimental devices for analyzing separation characteristics of dissolved gases including oxygen from water using a polypropylene hollow fiber membrane module. Separation of dissolved gases from water is investigated with variations of water flow rates. Composition of dissolved gases is also measured using GC. These results expect to be used in developing the portable separation system.
Abstract: In this study, two kinds of nondestructive evaluation
(NDE) techniques (rebound hardness and ultrasonic pulse velocity
methods) are investigated for the effective maintenance of underwater
concrete structures. A new methodology to estimate the underwater
concrete strengths more effectively, named “artificial neural network
(ANN) – based concrete strength estimation with the combination of
rebound hardness and ultrasonic pulse velocity methods” is proposed
and verified throughout a series of experimental works.