Testing the role of expansion in the prospective control of locomotion

The constant bearing angle (CBA) strategy is a prospective strategy that permits the interception of moving objects. The purpose of the present study is to test this strategy. Participants were asked to walk through a virtual environment and to change, if necessary, their walking speed so as to intercept approaching targets. The targets followed either a rectilinear or a curvilinear trajectory and target size was manipulated both within trials (target size was gradually changed during the trial in order to bias expansion) and between trials (targets of different sizes were used). The curvature manipulation had a large effect on the kinematics of walking, which is in agreement with the CBA strategy. The target size manipulations also affected the kinematics of walking. Although these effects of target size are not predicted by the CBA strategy, quantitative comparisons of observed kinematics and the kinematics predicted by the CBA strategy showed good fits. Furthermore, predictions based on the CBA strategy were deemed superior to predictions based on a required velocity (V-REQ) model. The role of target size and expansion in the prospective control of walking is discussed.

Modelling underwater acoustic noise as a tool for coastal management

Dissertação de Mestrado, Gestão da Água e da Costa, Faculdade de Ciências e Tecnologia, Universidade do Algarve, 2009

A time frequency approach to blind deconvolution in multipath underwater channels

Blind deconvolution is studied in the underwater acoustic channel context, by time-frequency (TF) processing. The acoustic propagation environment is modelled by ray tracing and mathematically described by a multipath propagation channel. Representation of the received signal by means of a signal-dependent TF distribution (radially Gaussian kernel distribution) allowed to visualize the resolved replicas of the emitted signal, while signi cantly attenuating the inherent interferences of classic quadratic TF distributions. The source signal instantaneous frequency estimation was the starting point for both source and channel estimation. Source signature estimation was performed by either TF inversion, based on the Wigner-Ville distribution of the received signal, or a subspace- -based method. The channel estimate was obtained either via a TF formulation of the conventional matched- lter, or via matched- - ltering with the previously obtained source estimate. A shallow water realistic scenario is considered, comprising a 135-m depth water column and an acoustic source located at 90-m depth and 5.6-km range from the receiver. For the corresponding noiseless simulated data, the quality of the best estimates was 0.856 for the source signal, and 0.9664 and 0.9996 for the amplitudes and time-delays of the impulse response, respectively. Application of the proposed deconvolution method to real data of the INTIMATE '96 sea trial conduced to source and channel estimates with the quality of 0.530 and 0.843, respectively. TF processing has proved to remove the typical ill-conditioning of single sensor deterministic deconvolution techniques.

Analysis of underwater acoustic data via 3-D segmentation

The analysis of seabed structure is important in a wide variety of scientific and industrial applications. In this paper, underwater acoustic data produced by bottom-penetrating sonar (Topas) are analyzed using unsupervised volumetric segmentation, based on a three dimensional Gibbs-Markov model. The result is a concise and accurate description of the seabed, in which key structures are emphasized. This description is also very well suited to further operations, such as the enhancement and automatic recognition of important structures. Experimental results demonstrating the effectiveness of this approach are shown, using Topas data gathered in the North Sea off Horten, Norway.

Estimating depth and explosive charge weight for an extremely shallow underwater explosion of the ROKS Cheonan sinking in the Yellow Sea

We estimated the detonation depth and net explosive weight for a very shallow underwater explosion using cutoff frequencies and spectral analysis. With detonation depth and a bubble pulse the net explosive weight for a shallow underwater explosion could simply be determined. The ray trace modeling confirms the detonation depth as a source of the hydroacoustic wave propagation in a shallow channel. We found cutoff frequencies of the reflection off the ocean bottom to be 8.5 Hz, 25 Hz, and 43 Hz while the cutoff frequency of the reflection off the free surface to be 45 Hz including 1.01 Hz for the bubble pulse, and also found the cutoff frequency of surface reflection to well fit the ray-trace modeling. We also attempted to corroborate our findings using a 3D bubble shape modeling and boundary element method. Our findings led us to the net explosive weight of the underwater explosion offshore of Baengnyeong-do for the ROKS Cheonan sinking to be approximately 136 kg TNT at a depth of about 8 m within an ocean depth of around 44 m. © 2015 Elsevier B.V.

Measuring underwater noise with high endurance surface and underwater autonomous vehicles

This paper describes the results of AcousticRobot'13 - a noise measurement campaign that took place off the Portuguese Coast in May 2013, using two high endurance autonomous vehicles capable of silent operation (an underwater glider and an autonmomous sailing vessel) equipped with hydrophones, and a moored hydrophone that served as reference. We show that the autonomous vehicles used can provide useful measurements of underwater noise, and describe the main advantages and shortcomings that became evident during the campaign.

Geostatistical Prediction of Ocean Outfall Plume Characteristics Based on an Autonomous Underwater Vehicle

Geostatistics has been successfully used to analyze and characterize the spatial variability of environmental properties. Besides giving estimated values at unsampled locations, it provides a measure of the accuracy of the estimate, which is a significant advantage over traditional methods used to assess pollution. In this work universal block kriging is novelty used to model and map the spatial distribution of salinity measurements gathered by an Autonomous Underwater Vehicle in a sea outfall monitoring campaign, with the aim of distinguishing the effluent plume from the receiving waters, characterizing its spatial variability in the vicinity of the discharge and estimating dilution. The results demonstrate that geostatistical methodology can provide good estimates of the dispersion of effluents that are very valuable in assessing the environmental impact and managing sea outfalls. Moreover, since accurate measurements of the plume’s dilution are rare, these studies might be very helpful in the future to validate dispersion models.

Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

Complex-order dynamics in hexapod locomotion

This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear spring-dashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with foot-force feedback to control the robot locomotion. A set of model-based experiments reveals the influence of the locomotion velocity on the foot–ground transfer function, which presents complex-order dynamics.