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.

Single beam survey data and links to sea-bottom video files off Helgoland

Kelp forests represent a major habitat type in coastal waters worldwide and their structure and distribution is predicted to change due to global warming. Despite their ecological and economical importance, there is still a lack of reliable spatial information on their abundance and distribution. In recent years, various hydroacoustic mapping techniques for sublittoral environments evolved. However, in turbid coastal waters, such as off the island of Helgoland (Germany, North Sea), the kelp vegetation is present in shallow water depths normally excluded from hydroacoustic surveys. In this study, single beam survey data consisting of the two seafloor parameters roughness and hardness were obtained with RoxAnn from water depth between 2 and 18 m. Our primary aim was to reliably detect the kelp forest habitat with different densities and distinguish it from other vegetated zones. Five habitat classes were identified using underwater-video and were applied for classification of acoustic signatures. Subsequently, spatial prediction maps were produced via two classification approaches: Linear discriminant analysis (LDA) and manual classification routine (MC). LDA was able to distinguish dense kelp forest from other habitats (i.e. mixed seaweed vegetation, sand, and barren bedrock), but no variances in kelp density. In contrast, MC also provided information on medium dense kelp distribution which is characterized by intermediate roughness and hardness values evoked by reduced kelp abundances. The prediction maps reach accordance levels of 62% (LDA) and 68% (MC). The presence of vegetation (kelp and mixed seaweed vegetation) was determined with higher prediction abilities of 75% (LDA) and 76% (MC). Since the different habitat classes reveal acoustic signatures that strongly overlap, the manual classification method was more appropriate for separating different kelp forest densities and low-lying vegetation. It became evident that the occurrence of kelp in this area is not simply linked to water depth. Moreover, this study shows that the two seafloor parameters collected with RoxAnn are suitable indicators for the discrimination of different densely vegetated seafloor habitats in shallow environments.

GROUND COOLING SYSTEM FOR IMPROVING THE EFFICIENCY OF LOW TEMPERATURE POWER GENERATION

This paper presents an analysis of an organic Rankine cycle (ORC) with dry cooling system aided by an earth-coupled passive cooling system. Several organic fluids were considered as working fluids in the ORC in the temperature range of 125-200 degrees C. An earth-air-heat-exchanger (EMU) is studied for a location in the United States (Las Vegas) and another in India (New Delhi), to pre cool the ambient air before entering an air-cooled condenser (ACC). It was observed that the efficiency of the system improved by 1-3% for the system located in Las Vegas and fluctuations associated with temperature variations of the ambient air were also reduced when the EAHE system was used. A ground-coupled heat pump (GCHP) is also studied for these locations where cooling water is pre cooled in an underground buried pipe before entering a condenser heat exchanger in a closed loop. The area of the buried pipe and the condenser size are calculated per kW of power generation for various working fluids.

Unattended ground sensor system based on fiber optic disk accelerometer

The basic principle and critical characteristics of unattended ground sensors (UGS) based on fiber optic disk accelerometers are introduced. Mechanical principles of fiber optic disk accelerometers (FODA) and calculation methods are presented. An FODA with a high sensitivity of 120rad/g and a resonance frequency of 300Hz is designed and used for detection in military affair.

Three-dimensional broadband omnidirectional acoustic ground cloak.

The control of sound propagation and reflection has always been the goal of engineers involved in the design of acoustic systems. A recent design approach based on coordinate transformations, which is applicable to many physical systems, together with the development of a new class of engineered materials called metamaterials, has opened the road to the unconstrained control of sound. However, the ideal material parameters prescribed by this methodology are complex and challenging to obtain experimentally, even using metamaterial design approaches. Not surprisingly, experimental demonstration of devices obtained using transformation acoustics is difficult, and has been implemented only in two-dimensional configurations. Here, we demonstrate the design and experimental characterization of an almost perfect three-dimensional, broadband, and, most importantly, omnidirectional acoustic device that renders a region of space three wavelengths in diameter invisible to sound.

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Quantitative analysis of accuracy of an inertial/acoustic 6DOF tracking system in motion

An increasing number of neuroscience experiments are using virtual reality to provide a more immersive and less artificial experimental environment. This is particularly useful to navigation and three-dimensional scene perception experiments. Such experiments require accurate real-time tracking of the observer's head in order to render the virtual scene. Here, we present data on the accuracy of a commonly used six degrees of freedom tracker (Intersense IS900) when it is moved in ways typical of virtual reality applications. We compared the reported location of the tracker with its location computed by an optical tracking method. When the tracker was stationary, the root mean square error in spatial accuracy was 0.64 mm. However, we found that errors increased over ten-fold (up to 17 mm) when the tracker moved at speeds common in virtual reality applications. We demonstrate that the errors we report here are predominantly due to inaccuracies of the IS900 system rather than the optical tracking against which it was compared. (c) 2006 Elsevier B.V. All rights reserved.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

Discrimination of Nuclear Grade Steel Samples Subjected to Different Heat Treatment Procedures Based on Acoustic Emission (AE) Data Profiling at Crack Initiation

The present work is an attempt to study crack initiation in nuclear grade, 9Cr-1Mo ferritic steel using AE as an online NDE tool. Laboratory experiments were conducted on 5 heat treated Compact Tension (CT) specimens made out of nuclear grade 9Cr-1Mo ferritic steel by subjecting them to cyclic tensile load. The CT Specimens were of 12.5 mm thickness. The Acoustic emission test system was setup to acquire the data continuously during the test by mounting AE sensor on one of the surfaces of the specimen. This was done to characterize AE data pertaining to crack initiation and then discriminate the samples in terms of their heat treatment processes based on AE data. The AE signatures at crack initiation could conclusively bring to fore the heat treatment distinction on a sample to sample basis in a qualitative sense.Thus, the results obtained through these investigations establish a step forward in utilizing AE technique as an on-line measurement tool for accurate detection and understanding of crack initiation and its profile in 9Cr-1Mo nuclear grade steel subjected to different processes of heat treatment.

Acoustic signatures of the seafloor: Tools for predicting grouper habitat

Groupers are important components of commercial and recreational fisheries. Current methods of diver-based grouper census surveys could potentially benefit from development of remotely sensed methods of seabed classification. The goal of the present study was to determine if areas of high grouper abundance have characteristic acoustic signatures. A commercial acoustic seabed mapping system, QTC View Series V, was used to survey an area near Carysfort Reef, Florida Keys. Acoustic data were clustered using QTC IMPACT software, resulting in three main acoustic classes covering 94% of the area surveyed. Diver-based data indicate that one of the acoustic classes corresponded to hard substrate and the other two represented sediment. A new measurement of seabed heterogeneity, designated acoustic variability, was also computed from the acoustic survey data in order to more fully characterize the acoustic response (i.e., the signature) of the seafloor. When compared with diver-based grouper census data, both acoustic classification and acoustic variability were significantly different at sites with and without groupers. Sites with groupers were characterized by hard bottom substrate and high acoustic variability. Thus, the acoustic signature of a site, as measured by acoustic classification or acoustic variability, is a potentially useful tool for stratifying diver sampling effort for grouper census.

Development Of Water Pollution Early Warning System For Oyster Harvesting Areas

The objective of this study is to develop a Pollution Early Warning System (PEWS) for efficient management of water quality in oyster harvesting areas. To that end, this paper presents a web-enabled, user-friendly PEWS for managing water quality in oyster harvesting areas along Louisiana Gulf Coast, USA. The PEWS consists of (1) an Integrated Space-Ground Sensing System (ISGSS) gathering data for environmental factors influencing water quality, (2) an Artificial Neural Network (ANN) model for predicting the level of fecal coliform bacteria, and (3) a web-enabled, user-friendly Geographic Information System (GIS) platform for issuing water pollution advisories and managing oyster harvesting waters. The ISGSS (data acquisition system) collects near real-time environmental data from various sources, including NASA MODIS Terra and Aqua satellites and in-situ sensing stations managed by the USGS and the NOAA. The ANN model is developed using the ANN program in MATLAB Toolbox. The ANN model involves a total of 6 independent environmental variables, including rainfall, tide, wind, salinity, temperature, and weather type along with 8 different combinations of the independent variables. The ANN model is constructed and tested using environmental and bacteriological data collected monthly from 2001 – 2011 by Louisiana Molluscan Shellfish Program at seven oyster harvesting areas in Louisiana Coast, USA. The ANN model is capable of explaining about 76% of variation in fecal coliform levels for model training data and 44% for independent data. The web-based GIS platform is developed using ArcView GIS and ArcIMS. The web-based GIS system can be employed for mapping fecal coliform levels, predicted by the ANN model, and potential risks of norovirus outbreaks in oyster harvesting waters. The PEWS is able to inform decision-makers of potential risks of fecal pollution and virus outbreak on a daily basis, greatly reducing the risk of contaminated oysters to human health.

Extended phone log-likelihood ratio features and acoustic-based I-vectors for language recognition

This paper presents new techniques with relevant improvements added to the primary system presented by our group to the Albayzin 2012 LRE competition, where the use of any additional corpora for training or optimizing the models was forbidden. In this work, we present the incorporation of an additional phonotactic subsystem based on the use of phone log-likelihood ratio features (PLLR) extracted from different phonotactic recognizers that contributes to improve the accuracy of the system in a 21.4% in terms of Cavg (we also present results for the official metric during the evaluation, Fact). We will present how using these features at the phone state level provides significant improvements, when used together with dimensionality reduction techniques, especially PCA. We have also experimented with applying alternative SDC-like configurations on these PLLR features with additional improvements. Also, we will describe some modifications to the MFCC-based acoustic i-vector system which have also contributed to additional improvements. The final fused system outperformed the baseline in 27.4% in Cavg.