Swath sonar bathymetry during POLARSTERN cruise ANT-XXII/2 (PS67) with links to multibeam raw data files

Multibeam data were measured during R/V Polarstern cruise ANT-XXII/2 along track lines of approximately 6800 NM total length during transits and the Ice Station POLarstern (ISPOL) experiment. Data were achieved during the transit from Cape Town via Bouvet Island towards Antarctic Peninsula for three weeks, crossing Agulhas Ridge, Agulhas Basin and Mid-Atlantic Ridge, and during the transit to Cape Town via South Georgia for two weeks. During the ISPOL station, data were gained while the vessel was drifting for five weeks anchored to an ice floe in the south-western Weddell Sea, starting at 68°13'S/54°47'W. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle. The refraction correction was achieved using CTD profiles or utilizing the system's own cross fan calibration. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ARK-XXIII/3 (PS72) with links to multibeam raw data files

Multibeam data were measured during R/V Polarstern cruise ARK-XXIII/3 along track lines of 7248 NM total length in the Arctic Ocean during transits and stationary work. Data were achieved on the transit from Iceland through the Northwestern Passage and the Beaufort Sea to the East Siberian Sea, crossing Northwind Ridge and Chukchi Plateau. The continental margin of East Siberian was surveyed by several wide spaced transects for almost three weeks. The Mendeleev Ridge and the surrounding deep sea bassins were investigated by a transect of about 1000 NM length, located at 80°-81°N. Lomonosov Ridge and Gakkel Ridge were also crossed. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle, 120° in shallow water areas. The refraction correction was achieved utilizing 14 CTD profiles measured during the cruise or by the system's own cross fan calibration. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ANT-XV/2 (PS47) with links to multibeam raw data files

Multibeam data were measured during R/V Polarstern cruise ANT-XV/2 along track lines of approximately 10200 NM total length during transits, surveys and partly during stationary work, mainly in the Scotia Sea and the Weddell Sea. Areal multibeam surveys were performed in the vicinity of the South Shetland trench, the Bransfield Basin, the South Sandwich trench, and off the Ekstrom Ice Shelf for time periods of three to eight days. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle, in some shallow areas 120°. The refraction correction was achieved utilizing sound velocity profiles sampled during the cruise, and by the system's own cross fan calibration. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ANT-XV/3 (PS48) with links to multibeam raw data files

Multibeam data were collected without operator supervision on R/V Polarstern cruise ANT-XV/3 during 19 days along track lines of about 1100 NM total length. Data were achieved during transits and stationary work in the eastern Weddell Sea off the Riiser-Larsen Ice Shelf between Halley Bay and Atka Bay. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ANT-XVI/2 (PS53) with links to multibeam raw data files

Multibeam data were collected without operator supervision on R/V Polarstern cruise ANT-XVI/2 along track lines of approximately 6800 NM. Data were achieved during transits and stationary work in the Atlantic Ocean, the South and the East Weddell Sea; amongst others between Atka Bay and Halley Bay, at the northern part of Filchner Trough, and off the Ronne Ice Shelf. A transect along the Greenwich meridian was taken between 66.5°S and 48°S during the transit from Neumayer to Cape Town. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ANT-XVI/3 (PS53) with links to multibeam raw data files

Multibeam data were collected without operator supervision on R/V Polarstern cruise ANT-XVI/3 along track lines of approximately 6700 NM. Data were achieved during transits and stationary work in the Weddell Sea off the Ekstrom Ice Shelf and the Jelbart Ice Shelf and in the South Atlantic Ocean. An area of 140 x 140 km was surveyed with 15 km transect space at about 49.5°S and 20°E. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ANT-XXII/3 (PS67) with links to multibeam raw data files

Multibeam data were measured during R/V Polarstern cruise ANT-XXII/3 along track lines of approximately 8000 NM total length during transits and partly during stationary work. Data were achieved on a transect along the Greenwich meridian, across the Weddell Sea from Kapp Norvegia to Joinville Island, across the Powell Basin, furthermore in the Drake Passage and west of Antarctic Peninsula. Short bathymetric surveys were carried out on the continental slope off Kapp Norvegia and Fimbulisen, and in the area of the Weddell Abyssal Plain. The multibeam sonar system Hydrosweep DS-2 was operated mainly in the HDBE softbeam mode with 240 depth values per swath and a receiving coverage of 100°. The refraction correction was achieved utilizing CTD profiles or the system's own cross fan calibration. The quality of data might be reduced during bad weather periods or adverse sea ice conditions. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Swath sonar bathymetry during POLARSTERN cruise ANT-XIX/1 (PS61) with links to multibeam raw data files

Multibeam data were measured during R/V Polarstern cruise ANT-XIX/1 on track lines of about 5,200 NM total length in the Atlantic Ocean during the transit from Bremerhaven to Cape Town. The multibeam sonar system Hydrosweep DS-2 was operated using 59 beams and 90° aperture angle. The refraction correction was achieved utilizing the system's own cross fan calibration. The quality of data might be reduced during bad weather periods. The dataset contains raw data that are not processed and thus may contain errors and blunders in depth and position.

Acoustic records of the underwater soundscape at PALAOA with links to audio stream files, 2005-2011

Scientific background: Marine mammals use sound for communication, navigation and prey detection. Acoustic sensors therefore allow the detection of marine mammals, even during polar winter months, when restricted visibility prohibits visual sightings. The animals are surrounded by a permanent natural soundscape, which, in polar waters, is mainly dominated by the movement of ice. In addition to the detection of marine mammals, acoustic long-term recordings provide information on intensity and temporal variability of characteristic natural and anthropogenic background sounds, as well as their influence on the vocalization of marine mammals Scientific objectives: The PerenniAL Acoustic Observatory in the Antarctic Ocean (PALAOA, Hawaiian "whale") near Neumayer Station is intended to record the underwater soundscape in the vicinity of the shelf ice edge over the duration of several years. These long-term recordings will allow studying the acoustic repertoire of whales and seals continuously in an environment almost undisturbed by humans. The data will be analyzed to (1) register species specific vocalizations, (2) infer the approximate number of animals inside the measuring range, (3) calculate their movements relative to the observatory, and (4) examine possible effects of the sporadic shipping traffic on the acoustic and locomotive behaviour of marine mammals. The data, which are largely free of anthropogenic noise, provide also a base to set up passive acoustic mitigation systems used on research vessels. Noise-free bioacoustic data thereby represent the foundation for the development of automatic pattern recognition procedures in the presence of interfering sounds, e.g. propeller noise.

Análisis de parámetros de fendas para la estimación de las propiedades mecánicas de vigas de madera de Pinus sylvestris L. Analysis of parameters for assessing drying fissures to estimate their influence on the mechanical properties of Pinus sylvestris L. wooden beams

El principal objetivo de este estudio es evaluar la influencia de las fendas de secado en las propiedades mecánicas de vigas de madera. Para esto, se utilizan 40 vigas de Pino silvestre (Pinus sylvestris L) de 4200 mm de longitud y 150x200 mm de sección que fueron ensayadas según norma EN 408. Las fendas se registran detalladamente atendiendo a su longitud y posición en cada cara de la viga, y midiendo el espesor y la profundidad cada 100mm a lo largo de la viga. Solo el 10% de la muestra es rechazada por las fendas, según los criterios establecidos por la norma española de clasificación visual UNE 56544. Para evaluar la influencia de las fendas en las propiedades mecánicas, se usan tres parámetros globales basados en el área, el volumen o la profundad de la fenda, y dos locales basados en la profundidad máxima y la profundidad en la zona de rotura. Además se determina la densidad de las piezas. Estos parámetros se comparan con las propiedades mecánicas (tensión de rotura, módulo de elasticidad y energía de rotura) y se encuentra escasa relación entre ellos. Las mejores correlaciones se encuentran entre los parámetros relacionados con la profundidad de las fendas, tanto con el módulo de elasticidad como con la tensión de rotura. The aim of this study is the evaluation of the influence of drying fissures on the mechanical properties of timber beams. For that purpose, 40 sawn timber pieces of Scots pine (Pinus sylvestris L.) with 150x200 mm in cross-section and 4200 mm in length have been tested according to EN 408, obtaining MOR and MOE. The fissures were registered in detail measuring their length and position in each face of the beam, and the thickness and depth every 100 mm in length. Only 10 % of the pieces were rejected because fissures, according to UNE 56544 Spanish visual grading standard. To evaluate the influence of fissures in mechanical properties three global parameters: Fissures Area Ratio or ratio between the area occupied by fissures and the total area in the neutral axis plane of the beam; Fissures Volume Ratio or ratio between volume of fissures and the total volume of the beam; Fissures Average Depth and two local parameters were used: Fissures Maximum Depth in the beam, and Fissures Depth in the broken zone of the beam. Also the density of the beams was registered. These parameters were compared with mechanical properties (tensile strength, elasticity modulus, and rupture energy) and the relationship between them had not been founded. The best relationship was founded between the elasticity modulus y the tensile strength with the parameters which included the depth of the fissures.

Estabilidad de un buque ultra heavy lift carrier

Se plantea la posible demanda en un futuro del transporte de grandes plataformas petrolíferas semisumergibles de más de 70.000 t de peso, para perforaciones a más de 10.000 pies de profundidad. Estudia la estabilidad de buques Heavy Lift Carrier con mangas atípicas, capaces de transportar estas cargas, y en algunos casos sobresaliendo por sus amuras. Para esto se: 1. Estudia y genera posibles carenas, su compartimentación y lastre para la inmersión o emersión de la cubierta de intemperie, a más de 10 m de profundidad para tomar o dejar la carga, optimizando el proceso. 2. Analiza la estabilidad del buque tanto en inmersión/emersión y navegación, con máximas cargas y con altos centros de gravedad, y establece ábacos de estabilidad límite en función de los parámetros del buque. 3. Plantea la corrección de estabilidad excesiva del buque en condiciones de navegación para evitar las excesivas aceleraciones. Los resultados obtenidos aportan ábacos que permiten, en función de los parámetros carga a transportar (Zg max) - Peso Carga), elegir el buque más adecuado, capaz de efectuar la inmersión, emersión, y navegación, y plantea acciones futuras de investigación. ABSTRACT This work raises the potential demand in the future, to transport large semisubmersible oil rigs over 70,000 tonnes of weight for drilling to 10,000 feet deep. Study vessel stability Heavy Lift Carrier with atypical breadths capable of carrying these burdens, and in some cases standing out for their bows. 1. Examines possible hulls, their partitioning and ballast for immersion or emersion of the weather deck, more than 10 m deep to take –loading (lifting) - or leave (off- loading). 2. Analyzes the stability of the vessel both immersion / emersion and navigation, with maximum loads with high centers of gravity and stability limit states abacus according to the parameters of the ship. 3. Correction raises the stability of the ship over navigation to prevent excessive accelerations. The results allow, in terms of cargo transport parameters (Zg max) - Weight Load), choosing the most suitable vessel capable of carrying out the immersion, emersion, and navigation, and suggests future research activities.

Bending continuous structures with SMAs: a novel robotic fish design

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators’ control in terms of actuation speed and position accuracy is also addressed.

Catadioptric panoramic stereovision for humanoid robots

This paper proposes a novel design of a reconfigurable humanoid robot head, based on biological likeness of human being so that the humanoid robot could agreeably interact with people in various everyday tasks. The proposed humanoid head has a modular and adaptive structural design and is equipped with three main components: frame, neck motion system and omnidirectional stereovision system modules. The omnidirectional stereovision system module being the last module, a motivating contribution with regard to other computer vision systems implemented in former humanoids, it opens new research possibilities for achieving human-like behaviour. A proposal for a real-time catadioptric stereovision system is presented, including stereo geometry for rectifying the system configuration and depth estimation. The methodology for an initial approach for visual servoing tasks is divided into two phases, first related to the robust detection of moving objects, their depth estimation and position calculation, and second the development of attention-based control strategies. Perception capabilities provided allow the extraction of 3D information from a wide range of visions from uncontrolled dynamic environments, and work results are illustrated through a number of experiments.

Learning curves of basic laparoscopic psychomotor skills in SINERGIA VR simulator

Purpose: Surgical simulators are currently essential within any laparoscopic training program because they provide a low-stakes, reproducible and reliable environment to acquire basic skills. The purpose of this study is to determine the training learning curve based on different metrics corresponding to five tasks included in SINERGIA laparoscopic virtual reality simulator. Methods: Thirty medical students without surgical experience participated in the study. Five tasks of SINERGIA were included: Coordination, Navigation, Navigation and touch, Accurate grasping and Coordinated pulling. Each participant was trained in SINERGIA. This training consisted of eight sessions (R1–R8) of the five mentioned tasks and was carried out in two consecutive days with four sessions per day. A statistical analysis was made, and the results of R1, R4 and R8 were pair-wise compared with Wilcoxon signed-rank test. Significance is considered at P value <0.005. Results: In total, 84.38% of the metrics provided by SINERGIA and included in this study show significant differences when comparing R1 and R8. Metrics are mostly improved in the first session of training (75.00% when R1 and R4 are compared vs. 37.50% when R4 and R8 are compared). In tasks Coordination and Navigation and touch, all metrics are improved. On the other hand, Navigation just improves 60% of the analyzed metrics. Most learning curves show an improvement with better results in the fulfillment of the different tasks. Conclusions: Learning curves of metrics that assess the basic psychomotor laparoscopic skills acquired in SINERGIA virtual reality simulator show a faster learning rate during the first part of the training. Nevertheless, eight repetitions of the tasks are not enough to acquire all psychomotor skills that can be trained in SINERGIA. Therefore, and based on these results together with previous works, SINERGIA could be used as training tool with a properly designed training program.

Sustainable Air Traffic Management System Development Methodology

As it is defined in ATM 2000+ Strategy (Eurocontrol 2001), the mission of the Air Traffic Management (ATM) System is: “For all the phases of a flight, the ATM system should facilitate a safe, efficient, and expedite traffic flow, through the provision of adaptable ATM services that can be dimensioned in relation to the requirements of all the users and areas of the European air space. The ATM services should comply with the demand, be compatible, operate under uniform principles, respect the environment and satisfy the national security requirements.” The objective of this paper is to present a methodology designed to evaluate the status of the ATM system in terms of the relationship between the offered capacity and traffic demand, identifying weakness areas and proposing solutions. The first part of the methodology relates to the characterization and evaluation of the current system, while a second part proposes an approach to analyze the possible development limit. As part of the work, general criteria are established to define the framework in which the analysis and diagnostic methodology presented is placed. They are: the use of Air Traffic Control (ATC) sectors as analysis unit, the presence of network effects, the tactical focus, the relative character of the analysis, objectivity and a high level assessment that allows assumptions on the human and Communications, Navigation and Surveillance (CNS) elements, considered as the typical high density air traffic resources. The steps followed by the methodology start with the definition of indicators and metrics, like the nominal criticality or the nominal efficiency of a sector; scenario characterization where the necessary data is collected; network effects analysis to study the relations among the constitutive elements of the ATC system; diagnostic by means of the “System Status Diagram”; analytical study of the ATC system development limit; and finally, formulation of conclusions and proposal for improvement. This methodology was employed by Aena (Spanish Airports Manager and Air Navigation Service Provider) and INECO (Spanish Transport Engineering Company) in the analysis of the Spanish ATM System in the frame of the Spanish airspace capacity sustainability program, although it could be applied elsewhere.