The Study of Sonar for Imaging of the Solid-Liquid Interface Inside Large Tanks

Retrieval, treatment, and disposal of high-level radioactive waste (HLW) is expected to cost between 100 and 300 billion dollars. The risk to workers, public health, and the environment are also a major area of concern for HLW. Visualization of the interface between settled solids and the optically opaque liquid is needed for retrieval of the waste from underground storage tanks. A Profiling sonar selected for this research generates 2-D image of the interface. Multiple experiments were performed to demonstrate the effectiveness of sonar in real-time monitoring the interface inside HLW tanks. First set of experiments demonstrated that objects shapes could be identified even when 30% of solids entrained in liquid, thereby mapping the interface. Simulation of sonar system validated these results. Second set of experiments confirmed the sonar’s ability in detecting the solids with density similar to the immersed liquid. Third set of experiments determined the affects of near by objects on image resolution. Final set of experiments proved the functional and chemical capabilities of sonar in caustic solution.

Swath sonar bathymetry during POLARSTERN cruise ARK-VII/3a (PS17) with links to multibeam raw data files

In multibeam echosounder and subbottom profiler data acquired during R/V Polarstern cruise ARK-VII/3a from the Hovgaard Ridge (Fram Strait), we found evidence for very deep (>1200 m) iceberg scouring. Five elongated seafloor features have been detected that are interpreted to be iceberg scours. The scours are oriented in north-south/south-north direction and are about 15 m deep, 300 m wide, and 4 km long crossing the entire width of the ridge. They are attributed to multiple giant paleo-icebergs that most probably left the Arctic Ocean southward through Fram Strait. The huge keel depths are indicative of ice sheets extending into the Arctic Ocean being at least 1200 m thick at the calving front during glacial maxima. The deep St. Anna Trough or grounded ice observed at the East Siberian Continental Margin are likely source regions of these icebergs that delivered freshwater to the Nordic Seas.

CONCURRENT LOCALIZATION AND MAPPING WITH SONAR SENSORS AND CONSIDERATION OF VEHICLE MOTION

Simultaneous Localization and Mapping (SLAM) is a procedure used to determine the location of a mobile vehicle in an unknown environment, while constructing a map of the unknown environment at the same time. Mobile platforms, which make use of SLAM algorithms, have industrial applications in autonomous maintenance, such as the inspection of flaws and defects in oil pipelines and storage tanks. A typical SLAM consists of four main components, namely, experimental setup (data gathering), vehicle pose estimation, feature extraction, and filtering. Feature extraction is the process of realizing significant features from the unknown environment such as corners, edges, walls, and interior features. In this work, an original feature extraction algorithm specific to distance measurements obtained through SONAR sensor data is presented. This algorithm has been constructed by combining the SONAR Salient Feature Extraction Algorithm and the Triangulation Hough Based Fusion with point-in-polygon detection. The reconstructed maps obtained through simulations and experimental data with the fusion algorithm are compared to the maps obtained with existing feature extraction algorithms. Based on the results obtained, it is suggested that the proposed algorithm can be employed as an option for data obtained from SONAR sensors in environment, where other forms of sensing are not viable. The algorithm fusion for feature extraction requires the vehicle pose estimation as an input, which is obtained from a vehicle pose estimation model. For the vehicle pose estimation, the author uses sensor integration to estimate the pose of the mobile vehicle. Different combinations of these sensors are studied (e.g., encoder, gyroscope, or encoder and gyroscope). The different sensor fusion techniques for the pose estimation are experimentally studied and compared. The vehicle pose estimation model, which produces the least amount of error, is used to generate inputs for the feature extraction algorithm fusion. In the experimental studies, two different environmental configurations are used, one without interior features and another one with two interior features. Numerical and experimental findings are discussed. Finally, the SLAM algorithm is implemented along with the algorithms for feature extraction and vehicle pose estimation. Three different cases are experimentally studied, with the floor of the environment intentionally altered to induce slipping. Results obtained for implementations with and without SLAM are compared and discussed. The present work represents a step towards the realization of autonomous inspection platforms for performing concurrent localization and mapping in harsh environments.

Analysis of the "Sonar Hopf" Cochlea

The "Sonar Hopf" cochlea is a recently much advertised engineering design of an auditory sensor. We analyze this approach based on a recent description by its inventors Hamilton, Tapson, Rapson, Jin, and van Schaik, in which they exhibit the "Sonar Hopf" model, its analysis and the corresponding hardware in detail. We identify problems in the theoretical formulation of the model and critically examine the claimed coherence between the described model, the measurements from the implemented hardware, and biological data.

Comparação de dois métodos geofísicos acústicos no mapeamento de fundos submersos: estudo de caso no Mar de Cananéia, Sistema estuarino de Cananéia-Iguape (SP)

Os estuários são ambientes altamente dinâmicos e concentram a maior parte da população mundial em seu entorno. São ambientes complexos que necessitam de uma gama de estudos. Nesse contexto, este trabalho visa contribuir para o entendimento dos estuários lagunares, tendo como objetivo comparar duas ferramentas geofísicas acústicas no mapeamento de uma porção submersa do Mar de Cananéia que está inserido no Sistema Estuarino Lagunar de Cananéia-Iguape (SP). Os equipamentos utilizados nesta pesquisa são o Sonar de Varredura Lateral e o Sistema Acústico de Classificação de Fundo RoxAnn, através da parametrização de amostras de fundo. A comparação do padrão acústico do Sonar de Varredura Lateral com as amostras de fundo da região permitiu o reconhecimento de 6 tipos distintos de padrões acústicos e a relação positiva com o diâmetro médio do grão foi de 50%. A comparação da resposta acústica do Sistema Acústico de Classificação de Fundo RoxAnn com o diâmetro médio do grão foi igualmente de 50%. Isto deve-se ao fato de que os valores produzidos pelo eco 1 e pelo eco 2 deste equipamento mostram que, por ser um mono-feixe e por analisar valores de intensidade do retorno acústico, o equipamento em questão pode responder a outros fatores ambientais que não seja somente o diâmetro médio do grão. Ao comparar a resposta acústica do Sonar de Varredura Lateral com o Sistema Acústico de Classificação de fundo RoxAnn obteve-se um resultado positivo de 93%. Isto pode ser explicado pelo fato de o Sonar de Varredura Lateral gerar uma imagem acústica do fundo. Em locais onde tem-se amostra e os valores do eco 1 e do eco 2 do Sistema Acústico de Classificação de Fundo RoxAnn são altos, pode-se associar a esses locais a influência da compactação dos sedimentos finos através da análise das imagens do Sonar de Varredura Lateral. Por meio da comparação destes dois métodos foi possível estabelecer um intervalo de valores para o eco 1 que pode ser associado ao diâmetro médio do grão. Assim, valores entre 0.170 a 0.484 milivolts podem ser associados a sedimentos finos com granulometria até areia fina. Valores entre 0.364 a 0.733 podem ser associados a sedimentos de granulometria entre areia fina a média. Valores acima de 0.805 milivolts até 1.585 milivolts podem ser associados a sedimentos mais grossos como carbonatos biodetríticos ou areias grossas. E, por fim, valores acima de 2.790 milivolts podem ser associados a afloramentos rochosos.