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1.
Ship hulls, as well as bridges, port dock pilings, dams, and various underwater structures need to be inspected for periodic maintenance. Additionally, there is a critical need to provide protection against sabotage activities, and to establish effective countermeasures against illegal smuggling activities. Unmanned underwater vehicles are suitable platforms for the development of automated inspection systems, but require integration with appropriate sensor technologies. This paper describes a vision system for automated ship-hull inspection, based on computing the necessary information for positioning, navigation, and mapping of the hull from stereo images. Binocular cues are critical in resolving a number of complex visual artifacts that hamper monocular vision in shallow-water conditions. Furthermore, they simplify the estimation of vehicle pose and motion, which is fundamental for successful automatic operation. The system has been implemented on a commercial remotely operated vehicle (ROV), and tested in pool and dock tests. Results from various trials are presented to demonstrate the system capabilities 相似文献
2.
利用多波段卫星数据进行浅海水深反演方法研究 总被引：18，自引：1，他引：18
以遥感反演水深的基本原理为基础,利用我国南海永暑礁景区的TM数据和实测水深资料,通过TM多波段数据辐射校正、图像与海图地理配推、底质类型分区、潮汐改正和实测水深数据与相应的图像辐射值回归分析,建立了浅海水深反演模型,并进行了浅海岛礁水深的实际计算,总标准误差为2．14m。对我国南海30m以浅岛礁水深地形研究有很好的应用价值。 相似文献
3.
The late Quaternary shallow-water carbonates have been altered by a variety of diagenetic processes, and further influenced by high-amplitude global and regional sea level changes. This study utilizes a new borehole drilled on the Yongxing Island, Xisha Islands to investigate meteoric diagenetic alteration in the late Quaternary shallowwater carbonates. Petrographic, mineralogical, stable isotopic and elemental data provide new insights into the meteoric diagenetic processes of the reef limestone. The results show the variation in the distribution of aragonite,high-Mg calcite(HMC) and low-Mg calcite(LMC) divides the shallow-water carbonates in Core SSZK1 into three intervals, which are Unit I(31.20–55.92 m, LMC), Unit II(18.39–31.20 m, aragonite and LMC) and Unit III(upper 18.39 m of core, aragonite, LMC and HMC). Various degrees of meteoric diagenesis exist in the identified three units. The lowermost Unit I has suffered almost complete freshwater diagenesis, whereas the overlying Units II and III have undergone incompletely meteoric diagenesis. The amount of time that limestone has been in the freshwater diagenetic environment has the largest impact on the degree of meteoric diagenesis. Approximately four intact facies/water depth cycles are recognized. The cumulative depletion of elements such as strontium(Sr),sodium(Na) and sulphur(S) caused by duplicated meteoric diagenesis in the older reef sequences are distinguished from the younger reef sequences. This study provides a new record of meteoric diagenesis, which is well reflected by whole-rock mineralogy and geochemistry. 相似文献
4.
New data support our previously published propagule dispersal hypothesis and show that propagules of some benthic foraminiferal species can survive for two years before growth commences. Following exposure to simulated shallow-water conditions, shallow-water species of benthic foraminifera appeared and grew in large numbers (commonly >100 ind/12 ml sediment) in the <32 µm-size sediment fraction collected from 320 m water depth in the Skagerrak basin (North Sea). None of the shallow-water species that grew abundantly (Planorbulina mediterranensis, Morulaeplecta bulbosa, Bolivina pseudoplicata, Cuneata arctica, Eggerelloides scaber, Gavelinopsis praegeri) seem to grow or reproduce at or in the vicinity of the sampling site. Consequently, they must have been transported there as <32 µm-sized individuals. Their sudden appearance when exposed to shallow-water conditions suggests that they had been transported to the sampling site as propagules and that they could survive in the sediments until conditions became suitable for growth and, for some, reproduction. The lack of agglutination on the proloculi of the agglutinated taxa that appeared in the growth-chambers may enhance their passive transport via currents and, thereby, dispersal. Of all the indigenous foraminiferal species that occur at the sampling site, only Textularia earlandi and Bolivinellina pseudopunctata continued to grow and reproduce when transferred from bathyal (320 m) to simulated shallow-water (0 m) conditions. The former is considered a highly opportunistic species. According to the literature, most of the morphospecies which grew in the experiments are cosmopolitan. Our results indicate substantial inter-specific differences in dispersal potential and support previous suggestions that among free-living species, some serial forms have the potential for long-distance dispersal. Still, oceanographic, physical and ecological boundaries and barriers constrain the distribution of most species. In addition to benthic foraminifera, Gromia spp. (rhizarian protists related to the foraminifera) grew in >60% of the experimental growth-chambers. 相似文献
5.
尚尔昌 《海洋学报(英文版)》1982,1(1):47-57
The effects of boundary reflection loss, scattering loss caused by the rough surface and the radiative directivity of the surface sources (parameter m) on the ambient noise field in shallow-water homogeneous layer have been discussed theoretically. It has been found that the parameter m has the stronger controlling role on the behavior of the ambient noise field than others. 相似文献
6.
There is a pressing need for standardization of data derived from bathy‐metric swath‐mapping systems. Currently several dozen multibeam and sidescan sonar data formats exist within the oceanographic community, and more can be expected as new systems are developed. Without some standardization of swath‐mapping data formats, the capability for use and integration of data from different systems will be severely compromised. This paper presents a strategy for organizing swath bathymetry data in a logical modular fashion that will allow data from all current swath bathymetric sonar systems to be stored and accessed in a common fashion. We have chosen the approach of defining compact efficient modules for each logically independent portion of a data record and storing it in a manner that is portable between diverse computer architectures and operating systems. This approach is extensible to accommodate new types of data. Although specifically developed for swath bathymetry, this format is also capable of supporting digital sidescan data and other types of swath data. 相似文献
7.
N. A. Zarenkov 《Oceanology》2011,51(1):80-88
The vertical distribution of 134 species of benthonic decapod crustaceans in the Atlantic and Indopacific Oceans has been
studied. The distribution of the decapods of Mediterranean origin within the Intermediate Water Masses (IWM) and outside of
IWM in each ocean has been compared. The East Atlantic and North Indian IWMs are characterized by positive temperature anomalies.
They characterize 77% of the studied species of decapods from the Atlantic and 58% of the decapods from the Indian Ocean.
The average magnitude of the sinking is 441 m for the Atlantic and 306 m for the Indian Ocean. The warming effect of the IWM
can explain the sinking of the uppermost habitation limit for 8 out of 13 low-bathyal species in both oceans. It is 390 m
on average. It is assumed that the wide vertical migration of faunas in the past might have been caused by the level of arid
climate and brine outflow from the Mediterranean seas. Therefore, the traditional names of the modern faunas, as the shallow-water
and deep-water ones characterized by their habitation depth, must be revised, and the same species can be considered either
shallow- or deep-water taking into account the scale of the IWM. The lability of the vertical distribution limits in the conditions
of the arid paleoclimates could be important for the faunogenesis in the deep sea. 相似文献
8.
Hyeonju Kim Gwang Hoon Lee Bo Yeon Yi Youngho Yoon Kyong-O Kim Han-Joon Kim Sang Hoon Lee 《Ocean Science Journal》2017,52(2):283-292
In high-resolution, shallow-water seismic surveys, correction for water-column height variations caused by tides, weather, and currents is an important part of data processing. In this study, we present a very simple method of correction for profile-length (i.e., long-wavelength) water-column height variations for high-resolution seismic data using a reference bathymetric grid. First, the difference between the depth of the seafloor picked from seismic data and the bathymetry from the bathymetric grid is computed at the locations where the shot points of seismic profiles and the bathymetric grid points are collocated or closest. Then, the results are gridded and smoothed to obtain the profile-length water-column height variations for the survey area. Next, the water-column height variations for each seismic profile are extracted from the smoothed grid and converted to two-way traveltimes. The corrections for the remaining mis-ties at the intersections, computed within a circular region around each tie shot point, are added to the corrections for the water-column height variations. The final, mistie corrected water-column height corrections are loaded to the SEGY trace header of seismic data as a total static. We applied this method to the sparker data acquired from the shallow-water area off the western-central part of Korea where the tidal range is over 7 m. The corrections for water-column height variations range from -10 to 4 m with a median value of about -2 m. Large corrections occur locally between and near the islands probably due to the amplification and shortening in tidal wavelength caused by rapid shoaling toward the islands. 相似文献
9.
本文基于海浪波折射现象和浅水波理论,提出了一种基于单景高分辨率光学遥感影像的浅海地形提取方法。首先,基于浅水波理论推导出适用于浅海区域的水深与海浪波长、频率的定量关系,针对近岸光学遥感图像复杂的海浪特征,讨论了两种海浪波长提取方法,即FFT方法和剖面线法。然后提出了基于长距离波长波动分析的海浪频率计算方法,解决了单景遥感影像的波浪频率计算难题。最后,利用单景QuickBird高分辨率光学遥感影像,以海南岛三亚湾为研究区域进行了应用实验,结果表明,对12m以浅的浅海区域,在不需要任何辅助参数的情况下,反演获得了浅海地形(DEM),经与1:25000比例尺海图的水深对比验证,地形趋势吻合良好,反演水深的均方根误差为1.07m,相对水深误差为16.2%,表明该方法适合于浅海水下地形的提取,且具有无需实测水深数据和环境参数的支持的优点。 相似文献
10.
Multibeam echosounders have commonly been employed for a wide range of applications including offshore survey, navigation, hydrogeology, and oceanography. Because the tremendous volume of the bathymetric data is demanding for some purposes and requires significant storage space, the data reduction plays a prominent role in practice. Additionally, the multibeam soundings are inevitably contaminated with sporadic outliers, and as such, the data cleaning can be challenging especially in shallow waters. We present a speedily robust method for reliably reducing the volume of the bathymetric data within grid cells. In this respect, robust M-estimators are recursively applied to the data in a patch-wise manner to alleviate the undesirable effects of the outlying observations. Accordingly, the reduced bathymetry is automatically made unaffected by the possible outliers once their equivalent weights have been downweighted. The performance of the presented method has been demonstrated by synthetic datasets and an experimental dataset collected by an ATLAS FS 20/100 kHz shallow-water multibeam echosounder in the offshore waters of Kish wharf. The reliability, efficiency, and capability of the proposed method have been verified, which makes it quite possible to meet the IHO requirements for special-order seafloor mapping. 相似文献
11.
A model was developed to estimate the relative impacts of different functional groups of piscivores on the shallow-water estuarine nursery assemblage of tropical north-eastern Australia. Data on variability in the occurrence, number and type of fish in the diet of different piscivores was combined with estimates of the abundance of each group. The model predicts that previously overlooked small and occasional or ‘minor’ piscivores, such as sillaginids, ambassids, sparids and small juvenile carangids, inflict mortality on new recruits to shallow-water nursery habitats that is orders of magnitude greater than that imparted by more conspicuous larger piscivores. Because of their high abundance, a shift in the diet of minor piscivores to prey on new recruits results in a massive increase in the consumption of fish prey by the piscivore assemblage as a whole. Even if the evidence that minor piscivores switch to target new recruits was rejected, the model shows that the highly abundant minor piscivores must still exert a significant proportion of predation mortality experienced by recruiting fishes. As a broad functional group, minor piscivores occur in most aquatic systems around the globe and are likely to play an important but largely overlooked role as predators that shape communities through predation on critical early life stages of other fishes. 相似文献
12.
The invasive green alga Caulerpa racemosa var. cylindracea represents an important threat to the diversity of Mediterranean benthic coastal ecosystems by interfering with native species and modifying benthic assemblages. The present study deals, for the first time, with the temporal and spatial variability of the biomass and phenology of C. racemosa considering both deep- and shallow-water populations. Two sampling depths (30 and 10 m) were sampled at three different rocky bottom sites every 3 months in the Archipelago of Cabrera National Park (Western Mediterranean). All morphometric variables analysed showed a spatial variation and temporal patterns depending on depth. Between depths, C. racemosa biomass, stolon length, number of fronds and frond length were usually significantly higher at deep-water populations, suggesting that C. racemosa grows better in deep-waters. Deep- and shallow-water populations displayed a high temporal variation although no evidence of seasonal patterns was found, in contrast with what has been reported by other authors. The sources of this variability are still unknown but probably both physical factors and differential herbivory pressures display a key role. 相似文献
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14.
Robust Range-Only Beacon Localization 总被引：2，自引：0，他引：2
In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations 相似文献
15.
Jan Chr. Blankenburgh Bj⊘rn A. Fossum Per A. Østerholt Hans Olav Torsen 《Marine Geodesy》2013,36(2):125-145
The hitherto promising finds of oil and gas on the Norwegian continental shelf have increased the general activity in this area considerably. Consequently, the need for better charts and more precise navigational systems have become more pertinent. During the past few years a number of marine geodetic projects have either been planned or embarked upon by various organizations within both the public and private sectors. This article gives a brief review of the Norwegian projects which have special relevance to marine geodesy; this includes the following areas: recommendations, requirements, precision navigation, satellite positioning, reference systems, boundary problems, bathymetry, geological mapping, marine geoid determination, and data base developments. The reference list will give the reader more detailed sources of information. 相似文献
16.
Twenty-nine benthic invertebrate species were registered for the Gudauta Bank in the depth range of 8–32 m in 1990. The shallow-water
biocenose was defined for the depths of less than 10 m, the biocenoses of Anadara inaequivalvis and A. inaequivalvis-Upogebia pusilla occupied the depths of 10–30 m; and the biocenosis of Pitar rudis was found for the depths of more than 30 m. The highest biodiversity and abundance of benthos was registered for the Anadara biocenoses, while the lowest, for the shallow-water ones. It was found that significant changes in the benthic communities
took place in the forty years after the predator gastropod Rapana venosa was introduced into the Black Sea. The oysters became extinct on Gudauta Bank, and the species composition of the benthic
community has been significantly depleted. Alien species of Anadara and Rapana became the most abundant by biomass, comprising more than 80% of the total biomass of the benthos. The population density
of Rapana constituted 12 ind./m2 and was the highest ever registered for the studied areas of the Black Sea. Insufficient nutrition preconditioned the small
size of the mollusks. 相似文献
17.
Pliocene to Recent shallow-water contourite deposits on the shelf and shelf edge off south-western Mallorca, Spain 总被引：2，自引：2，他引：0
Thomas Philippe Vandorpe David Van Rooij Dorrik A. V. Stow Jean-Pierre Henriet 《Geo-Marine Letters》2011,31(5-6):391-403
This paper presents evidence for the presence of shallow-water contourite drifts on the south-western shelf and shelf edge off Mallorca in water depths between 150 and 275?m. These are called the Mallorca contourite depositional system (CDS). The elongate-mounded shallow-water CDS in this area is ascribed to an offshoot of the Balearic Current, which flows north to south through the Mallorca Channel as part of the overall thermohaline circulation in the Mediterranean Sea. Drift geometry suggests that the north?Csouth current is deflected into an east?Cwest flow pattern by interaction with a marked seafloor bathymetry, associated with major fault displacement. Four seismic units separated by three prominent discontinuities can be identified. The three internal discontinuities are correlated to large-scale basin-wide events: the lower Pliocene revolution (4.2?Ma), the upper Pliocene revolution (2.4?Ma) and the mid-Pleistocene revolution (0.9?Ma). The Plio-Quaternary succession has been deposited on top of a Miocene reef, which serves as an acoustic basement and is affected by a large fault, offsetting the basement on average by 150?m. Marked erosional features throughout and further incision of the Sant Jordi Channel along the basement fault in the Pleistocene deposits indicate stronger currents in this period. The Pleistocene deposits also show a pronounced cyclicity, which is tentatively ascribed to climatic variations and the effects of eustatic sea-level fluctuation over the south-western Mallorca shelf at that time. 相似文献
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