Fuzzy Logic Foundations and Industrial Applications (ed. D. Ruan), Springer US, 1996, ISBN: 978-0-7923-9774-8 [Book review]

Abstract not available

Inter-carrier interference mitigation for underwater acoustic communications

Communicating at a high data rate through the ocean is challenging. Such communications must be acoustic in order to travel long distances. The underwater acoustic channel has a long delay spread, which makes orthogonal frequency division multiplexing (OFDM) an attractive communication scheme. However, the underwater acoustic channel is highly dynamic, which has the potential to introduce significant inter-carrier interference (ICI). This thesis explores a number of means for mitigating ICI in such communication systems. One method that is explored is directly adapted linear turbo ICI cancellation. This scheme uses linear filters in an iterative structure to cancel the interference. Also explored is on-off keyed (OOK) OFDM, which is a signal designed to avoid ICI.

BEHAVIOR OF FIBER REINFORCED POLYMER COMPOSITE PILES WITH ELLIPTICAL CROSS SECTIONS IN INTEGRAL ABUTMENT BRIDGE FOUNDATIONS

Every year in the US and other cold-climate countries considerable amount of money is spent to restore structural damages in conventional bridges resulting from (or “caused by”) salt corrosion in bridge expansion joints. Frequent usage of deicing salt in conventional bridges with expansion joints results in corrosion and other damages to the expansion joints, steel girders, stiffeners, concrete rebar, and any structural steel members in the abutments. The best way to prevent these damages is to eliminate the expansion joints at the abutment and elsewhere and make the entire bridge abutment and deck a continuous monolithic structural system. This type of bridge is called Integral Abutment Bridge which is now widely used in the US and other cold-climate countries. In order to provide lateral flexibility, the entire abutment is constructed on piles. Piles used in integral abutments should have enough capacity in the perpendicular direction to support the vertical forces. In addition, piles should be able to withstand corrosive environments near the surface of the ground and maintain their performance during the lifespan of the bridge. Fiber Reinforced Polymer (FRP) piles are a new type of pile that can not only accommodate large displacements, but can also resist corrosion significantly better than traditional steel or concrete piles. The use of FRP piles extends the life of the pile which in turn extends the life of the bridge. This dissertation studies FRP piles with elliptical shapes. The elliptical shapes can simultaneously provide flexibility and stiffness in two perpendicular axes. The elliptical shapes can be made using the filament winding method which is a less expensive method of manufacturing compared to the pultrusion or other manufacturing methods. In this dissertation a new way is introduced to construct the desired elliptical shapes with the filament winding method. Pile specifications such as dimensions, number of layers, fiber orientation angles, material, and soil stiffness are defined as parameters and the effects of each parameter on the pile stresses and pile failure have been studied. The ANSYS software has been used to model the composite materials. More than 14,000 nonlinear finite element pile models have been created, each slightly different from the others. The outputs of analyses have been used to draw curves. Optimum values of the parameters have been defined using generated curves. The best approaches to find optimum shape, angle of fibers and types of composite material have been discussed.

An explanatory model of underwater adaptation

The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575) the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.

Computational Foundations for Safe and Efficient Human-Robot Collaboration in Assembly Cells

Human and robots have complementary strengths in performing assembly operations. Humans are very good at perception tasks in unstructured environments. They are able to recognize and locate a part from a box of miscellaneous parts. They are also very good at complex manipulation in tight spaces. The sensory characteristics of the humans, motor abilities, knowledge and skills give the humans the ability to react to unexpected situations and resolve problems quickly. In contrast, robots are very good at pick and place operations and highly repeatable in placement tasks. Robots can perform tasks at high speeds and still maintain precision in their operations. Robots can also operate for long periods of times. Robots are also very good at applying high forces and torques. Typically, robots are used in mass production. Small batch and custom production operations predominantly use manual labor. The high labor cost is making it difficult for small and medium manufacturers to remain cost competitive in high wage markets. These manufactures are mainly involved in small batch and custom production. They need to find a way to reduce the labor cost in assembly operations. Purely robotic cells will not be able to provide them the necessary flexibility. Creating hybrid cells where humans and robots can collaborate in close physical proximities is a potential solution. The underlying idea behind such cells is to decompose assembly operations into tasks such that humans and robots can collaborate by performing sub-tasks that are suitable for them. Realizing hybrid cells that enable effective human and robot collaboration is challenging. This dissertation addresses the following three computational issues involved in developing and utilizing hybrid assembly cells: - We should be able to automatically generate plans to operate hybrid assembly cells to ensure efficient cell operation. This requires generating feasible assembly sequences and instructions for robots and human operators, respectively. Automated planning poses the following two challenges. First, generating operation plans for complex assemblies is challenging. The complexity can come due to the combinatorial explosion caused by the size of the assembly or the complex paths needed to perform the assembly. Second, generating feasible plans requires accounting for robot and human motion constraints. The first objective of the dissertation is to develop the underlying computational foundations for automatically generating plans for the operation of hybrid cells. It addresses both assembly complexity and motion constraints issues. - The collaboration between humans and robots in the assembly cell will only be practical if human safety can be ensured during the assembly tasks that require collaboration between humans and robots. The second objective of the dissertation is to evaluate different options for real-time monitoring of the state of human operator with respect to the robot and develop strategies for taking appropriate measures to ensure human safety when the planned move by the robot may compromise the safety of the human operator. In order to be competitive in the market, the developed solution will have to include considerations about cost without significantly compromising quality. - In the envisioned hybrid cell, we will be relying on human operators to bring the part into the cell. If the human operator makes an error in selecting the part or fails to place it correctly, the robot will be unable to correctly perform the task assigned to it. If the error goes undetected, it can lead to a defective product and inefficiencies in the cell operation. The reason for human error can be either confusion due to poor quality instructions or human operator not paying adequate attention to the instructions. In order to ensure smooth and error-free operation of the cell, we will need to monitor the state of the assembly operations in the cell. The third objective of the dissertation is to identify and track parts in the cell and automatically generate instructions for taking corrective actions if a human operator deviates from the selected plan. Potential corrective actions may involve re-planning if it is possible to continue assembly from the current state. Corrective actions may also involve issuing warning and generating instructions to undo the current task.

A surface plasmon resonance system for the underwater detection of domoic acid

Over the past decade Surface Plasmon Resonance (SPR) techniques have been applied to the measurement of numerous analytes. In this article, an SPR biosensor system deployed from an oceanographic vessel was used to measure dissolved domoic acid (DA), a common and harmful phycotoxin produced by certain microalgae species belonging to the genus Pseudo-nitzschia. During the biosensor deployment, concentrations of Pseudo-nitzschia cells were very low over the study area and measured DA concentrations were below detection. However, the in situ operational detection limit of the system was established using calibrated seawater solutions spiked with DA. The system could detect the toxin at concentrations as low as 0.1 ng mL−1 and presented a linear dynamic range from 0.1 ng mL−1 to 2.0 ng mL−1. This sensor showed promise for in situ detection of DA.

International workshop on "Different survey methods for coral reef fish, including methods based on underwater video"

In September 2013, staff from the University of the South Pacific (USP) Honiara campus, the Secretariat of the Pacific Community (SPC) and IFREMER (UR LEADNC, AMBIO project) in New Caledonia, and the French Institute for Pacific Coral Reefs (IRCP) in Moorea, French Polynesia, co-facilitated a workshop entitled “Different survey methods of coral reef fish, including the methods based on underwater video”. The workshop was attended by students from USP, NGO and fisheries officers. They were trained to several underwater visual census techniques and to the STAVIRO video-based technique, including both field work and data analysis.

Underwater acoustic networks: the FP7 UAN project

The EU-funded project UAN - Underwater Acoustic Network aims at conceiving, developing and testing at sea an innovative and operational concept for integrating in a unique communication system submerged, surface and aerial sensors with the objective of protecting off-shore and coastline critical infrastructures. A crucial aspect of the project consisted in the use of autonomous underwater vehicles (AUVs) as mobile nodes in the underwater acoustic communication network. In particular, AUVs have the role of adapting the network geometry to the variation of the acoustic channel. This paper reports on the project concept and vision as well as on the progress of its various development phases. The recent at-sea successes that have been demonstrated within the UAN framework are detailed and results of the final UAN project demonstration, UAN11, held in the May of 2011, are reported. The UAN network was in operation for five continuous days with up to five nodes, of which three of them were mobile nodes. © IFAC.

Libs in cultural heritage: recognition and identification of objects in an underwater archaeological shipwreck

Nowadays, one of the most important areas of interest in archeology is the characterization of the submersed cultural heritage. Mediterranean Sea is rich in archaeological findings due to storms, accidents and naval battles since prehistoric times. Chemical analysis of submerged materials is an extremely valuable source of information on the origin and precedence of the wrecks, and also the raw materials employed during the manufacturing of the objects found in these sites. Nevertheless, sometimes it is not possible to extract the archaeological material from the marine environment due to size of the sample, the legislation or preservation purposes. In these cases, the in-situ analysis turns into the only alternative for obtaining information. In spite of this demand, no analytical techniques are available for the in-situ chemical characterization of underwater materials. The versatility of laser-induced breakdown spectroscopy (LIBS) has been successfully tested in oceanography 1. Advantages such as rapid and in situ analysis with no sample preparation make LIBS a suitable alternative for field measurements. To further exploit the inherent advantages of the technology, a mobile fiber-based LIBS platform capable of performing remote measurements up to 50 meters range has been designed for the recognition and identification of artworks in underwater archaeological shipwrecks. The LIBS prototype featured both single-pulse (SP-LIBS) and multi-pulse excitation (MP-LIBS) 2. The use of multi-pulse excitation allowed an increased laser beam energy (up to 95 mJ) transmitted through the optical fiber. This excitation mode results in an improved performance of the equipment in terms of extended range of analysis (to a depth of 50 m) and a broader variety of samples to be analyzed (i.e., rocks, marble, ceramics and concrete). In the present work, the design and construction considerations of the instrument are reported and its performance is discussed on the basis of the spectral response, the remote irradiance achieved upon the range of analysis and its influence on plasma properties, as well as the effect of the laser pulse duration and purge gas to the LIBS signal. Also, to check the reliability and reproducibility of the instrument for field analysis several robustness tests were performed outside the lab. Finally, the capability of this instrument was successfully demonstrated in an underwater archaeological shipwreck (San Pedro de Alcántara, Malaga).

Forms, Foundations, and the Ethos of Foremost: Zen Practice, Epistemology, and Ontology in Reflective Knowledge Organization

In reflecting on the practice of knowledge organization, we tacitly or explicitly root our conceptions of work and its value in some epistemic and ontological foundation. Zen Buddhist philosophy offers a unique set of conceptions vis-à-vis organizing, indexing, and describing documents.When we engage in knowledge organization, we are setting our mind to work with an intention. We intend to make some sort of intervention. We then create a form a realization of an abstraction (like classes or terms) [1], we do this from a foundation of some set of beliefs (epistemology, ontology, and ethics), and because we have to make decisions about what to privilege, we need to decide what is foremost in our minds. We must ask what is the most important thing?Form, foundation, and the ethos of foremost require evoke in our reflection on work number of ethical, epistemic, and ontological concerns that ripple throughout our conceptions of space, “good work”, aesthetics, and moral mandate [2,3]. We reflect on this.

Underwater survey of ichthyofauna of eastern Atlantic seamounts: Gettysburg and Ormond (Gorringe Bank)

Gettysburg and Ormond are seamounts belonging to the Gorringe Bank, which is located on the Europen-African plate boundary. Given the importance of these oceanic features for understanding marine biodiversity patterns, two surveys were carried out in 1998 (Gettysburg) and 1999 (Ormond) using diving, photography and video for species identification and abundance evaluation. Of the 9 fish species found at Gettysburg and 11 at Ormond, 6 were common to both sites and these included the dominant species: the oceanic and commercially important, Seriola rivoliana, and the coastal, typically Atlantic-Mediterranean Coris julis and Anthias anthias. The strong representation of coastal, demersal and Atlantic-Mediterranean species in the Gorringe Bank region and the presence of Abudefduf luridus, an endemic Macaronesian species, at Gettysburg suggests that the upper part of these seamounts may have acted and still act as “stepping stones” for the dispersal of coastal species.

Numerical modelling of axially loaded piled foundations with physical tests validation

L'oggetto della tesi è la modellazione numerica di pali di fondazione per turbine eoliche in ambiente offshore. Il metodo di modellazione comprende l'interpretazione di prove CPT per l'estrapolazione dei parametri geotecnici del terreno, la creazione di un modello dell'interazione tra struttura e terreno tramite il software agli elementi finiti Abaqus, la sua verifica, l'ottimizzazione dell'estensione del modello del terreno e della mesh e la simulazione numerica del comportamento di pali caricati assialmente in compressione. Grazie al confronto con i risultati di test su modelli fisici, eseguiti nel laboratorio dell'istituto Fraunhofer IWES di Hannover, di tre pali aventi la stessa geometria ma installati in punti con diverse condizioni di compattazione della sabbia, è stata possibile la messa a punto di una strategia di simulazione più accurata possibile e la sua validazione. A conclusione del lavoro è stato eseguito un esempio di design di una fondazione jacket per una turbina eolica offshore.

First steps in underwater photogrammetry with the support of an unmanned underwater vehicle

The evolution of modern and increasingly sensitive image sensors, the increasingly compact design of the cameras, and the recent emergence of low-cost cameras allowed the Underwater Photogrammetry to become an infallible and irreplaceable technique used to estimate the structure of the seabed with high accuracy. Within this context, the main topic of this work is the Underwater Photogrammetry from a geomatic point of view and all the issues associated with its implementation, in particular with the support of Unmanned Underwater Vehicles. Questions such as: how does the technique work, what is needed to deal with a proper survey, what tools are available to apply this technique, and how to resolve uncertainties in measurement will be the subject of this thesis. The study conducted can be divided into two major parts: one devoted to several ad-hoc surveys and tests, thus a practical part, another supported by the bibliographical research. However the main contributions are related to the experimental section, in which two practical case studies are carried out in order to improve the quality of the underwater survey of some calibration platforms. The results obtained from these two experiments showed that, the refractive effects due to water and underwater housing can be compensated by the distortion coefficients in the camera model, but if the aim is to achieve high accuracy then a model that takes into account the configuration of the underwater housing, based on ray tracing, must also be coupled. The major contributions that this work brought are: an overview of the practical issues when performing surveys exploiting an UUV prototype, a method to reach a reliable accuracy in the 3D reconstructions without the use of an underwater local geodetic network, a guide for who addresses underwater photogrammetry topics for the first time, and the use of open-source environments.

Fundações de construções submetidas a esforços de tração em solo de alta porosidade da região de Campinas - SP

This paper presents the behavior of three bored piles conducted in diabasic soil submitted to uplift forces. The piles were built at the site for Experimental Studies in Soil Mechanics and Foundations of UNICAMP, located in the city of Campinas, Brazil. Field tests have already been conducted at the site (SPT, CPT, DMT and PMT), as well as laboratory tests by using sample soils taken from a well up to 17 m deep. The water table is not checked until a depth of 17 m. In order to check the behavior of the piles when submitted to uplift forces, slow static load tests were carried out as the recommendations of NBR 12131. The carrying capacity of these piles was also provided by means of theoretical methods, appropriate for uplift forces, and through semi-empirical methods appropriate for compression forces, considering only the portion of lateral resistance. The values estimated by using the considered methods were compared to those obtained by means of load tests. One of the tested piles was extracted from the soil to be the subject of a study on its geometry.