Artificial Intelligence Model for Flowable Concrete Mixtures Used in Underwater Construction and Repair

This study explores using artificial neural networks to predict the rheological and mechanical properties of underwater concrete (UWC) mixtures and to evaluate the sensitivity of such properties to variations in mixture ingredients. Artificial neural networks (ANN) mimic the structure and operation of biological neurons and have the unique ability of self-learning, mapping, and functional approximation. Details of the development of the proposed neural network model, its architecture, training, and validation are presented in this study. A database incorporating 175 UWC mixtures from nine different studies was developed to train and test the ANN model. The data are arranged in a patterned format. Each pattern contains an input vector that includes quantity values of the mixture variables influencing the behavior of UWC mixtures (that is, cement, silica fume, fly ash, slag, water, coarse and fine aggregates, and chemical admixtures) and a corresponding output vector that includes the rheological or mechanical property to be modeled. Results show that the ANN model thus developed is not only capable of accurately predicting the slump, slump-flow, washout resistance, and compressive strength of underwater concrete mixtures used in the training process, but it can also effectively predict the aforementioned properties for new mixtures designed within the practical range of the input parameters used in the training process with an absolute error of 4.6, 10.6, 10.6, and 4.4%, respectively.

Water exposure of stressed graphite fiber composites /

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A Single-armed Manta-board as a New Diver-controlled Planing Board and Its Use for Underwater Surveys

Due to inadequacies of previous underwater towing techniques and the special needs of a recent underwater survey, a modified mania-board technique was developed. With this new technique, the diver holds on to the manta-board with one arm; consequently, the board is referred to as a single-armed manta-board (sam-board). The sam-board proved inexpensive and highly maneuverable, allowing the divers to freely collect samples or record information. Through some experimenting with the board and changing some of the variables, such as rope lengths, towing speeds, etc., a highly efficient towing method can be achieved. Preplanning and strict diving safety procedures must, however, be implemented to assure efficiency. This paper presents the materials, guidelines for board construction, equipment, and preplanning and diving safety procedures necessary for the sam-board towing operation.

Construction and Operation of a Two-place Diver's Sled

Fisheries gear researchers have employed scuba diver-operated sleds to evaluate towed fishing systems since the early 1950's. One of the earliest sled designs was a converted Stokes litter in which two divers sat tandem with the forward diver operating the diving controls (Sand, 1956). The litter was relatively easy to maneuver and provided a comfortable platform for observing operational fishing gear. However, the use of underwater photographic equipment to document gear performance was difficult due to the limited mobility of the observer-cameraman.

Effect of Mixture Composition on Washout Resistance of Highly Flowable Underwater Concrete

The underwater casting of relatively thin lifts of concrete in water requires the proportioning of highly flowable concrete that can resist water dilution and segregation and spread readily into place. An investigation was carried out to determine the effects of antiwashout admixture concentration, water-cementitious materials ratio, and binder composition on the washout resistance of highly flowable concrete. Two main types of antiwashout admixtures were used: 1) a powdered welan gum at concentrations of 0.07 and 0.15% (by mass of binder); and 2) a liquid-based cellulosic admixture with dosages up to 1.65 L/100 kg of binder. The water-cementitious materials ratios were set at 0.41 and 0.47, corresponding to high-quality underwater concrete. Four binder compositions were used: a standard Canadian Type 10 cement, the same cement with 10% silica fume replacement, the cement with 50% granulated blast-furnace slag replacement, and a ternary cement containing 6% silica fume and 20% Class F fly ash. The concentrations of anti-washout admixture have direct impact on washout resistance. For a given washout loss, greater slump flow consistency can be achieved with the increases in anti-washout admixture concentration and decreases in water-binder ratio. The washout mass loss can be reduced, for a given consistency

Effect of Mixture Composition on Relative Strength of Highly Flowable Underwater Concrete

Concrete used for underwater repair is often proportioned to spread readily into place and self-consolidate, and to develop high resistance to segregation and water dilution. An investigation was carried out to determine the effect of the dosage of antiwashout admixture, water-cementitious materials ratio (w/cm), and binder composition on the relative residual strength of highly flowable underwater concrete. Two types of antiwashout admixtures were used: a powdered welan gum at 0.07 and 0.15% by mass of binder, and a liquid-based cellulosic admixture employed at a high dosage of 1 to 1.65 L/100 kg of cementitious materials. The w/cms were set at 0.41 and 0.47 to secure adequate performance of underwater concrete for construction and repair. Four binder compositions were used: a Canadian Type 10 cement; a cement with 10% silica fume replacement; a cement with 50% replacement of granulated blast-furnace slag; and a ternary binder containing 6% silica fume and 20% Class F fly ash. Test results indicate that for a given washout mass loss and slump flow consistency, greater relative residual strength can be secured when the dosage of antiwashout admixture is increased, the w/cm is reduced, and a binary binder with 10% silica fume substitution or the ternary binder are employed. Such mixtures can develop relative residual compressive strengths of 85 and 80%, compared to mixtures cast in air, when the value of washout loss is limited to 4 and 6% for mixtures with slump flow values of 450 and 550 mm, respectively.

Studies on Rubber Composition as Passive Acoustic Materials in Underwater Electro Acoustic Tranducer Technology and Their aging Characteristic

The research work has been in the area of compounding and characterization of rubbers for use in under water electro acoustic transducers. The study also covers specific material system such as encapsulation materials, baffle material, seal material, etc. Life prediction techniques of under water rubbers in general have been established with reference to more than one functional property. Ranges of passive materials, besides the active sensing material go into the construction of underwater electro acoustic transducers. Reliability of the transducer is critically dependent on these passive materials. Rubbers are a major class of passive materials. The present work concentrates on these materials. Conventional rubbers are inadequate to meet many of the stringent function specific requirements. There exists a large gap of information in the rubber technology of underwater rubbers, particularly relating to underwater electro acoustic transducers. This study is towards filling up the gaps of information in this crucial area. Water intake into rubber is considered as the single most important issue for the long-term performance of rubbers, especially Neoprene. In this study, the cause and effects of a range of parameters affecting the water absorption by diffusion and permeation have been investigated.

Investigations on Ultrasonic Transducer Array Systems for NDE of Underwater Pipelines

The main objective of carrying out this investigation is to develop suitable transducer array systems so that underwater pipeline inspection could be carried out in a much better way, a focused beam and electronic steering can reduce inspection time as well. Better results are obtained by optimizing the array parameters. The spacing between the elements is assumed to be half the wavelength so that the interelement interaction is minimum. For NDT applications these arrays are operated at MHz range. The wavelengths become very small in these frequency ranges. Then the size of the array elements becomes very small, requiring hybrid construction techniques for their fabrication. Transducer elements have been fabricated using PVDF as the active, mild steel as the backing and conducting silver preparation as the bonding materials. The transducer is operated in the (3,3) mode. The construction of a high frequency array is comparatively complicated. The interelement spacing between the transducer elements becomes considerably small when high frequencies are considered. It becomes very difficult to construct the transducer manually. The electrode connections to the elements can produce significant loading effect. The array has to be fabricated using hybrid construction techniques. The active materials has to be deposited on a proper substrate and etching techniques are required to fabricate the array. The annular ring, annular cylindrical or other similar structural forms of arrays may also find applications in the near future in treatments were curved contours of the human body are affected.

Studies on rubber compositions as passive acoustic materials in underwater electro acoustic transducer technology-and their aging characteristics

Rubber has become an indispensable material in Ocean technology. Rubber components play critical roles such as sealing, damping, environmental protection, electrical insulation etc. in most under water engineering applications. Technology driven innovations in electro acoustic transducers and other sophisticated end uses have enabled quantum jump in the quality and reliability of rubber components. Under water electro acoustic transducers use rubbers as a critical material in their construction. Work in this field has lead to highly reliable and high performance materials which has enhanced service life of transducers to the extent of 1015 years. Present work concentrates on these materials. Conventional rubbers are inadequate to meet many of the stringent functional of the requirements. There exists large gap of information in the rubber technology of under water rubbers, particularly in the context of under water electro acoustic transducers. Present study is towards filling up the gaps of information in this crucial area. The research work has been in the area of compounding and characterisation of rubbers for use in under water electro acoustic transducers. The study also covers specific material system such as encapsulation material, baffle material, seal material, etc. Life prediction techniques of under water rubbers in general has been established with reference to more than one functional property. This thesis is divided into 6 chapters.

Multisensor Modeling Underwater with Uncertain Information

This thesis develops an approach to the construction of multidimensional stochastic models for intelligent systems exploring an underwater environment. It describes methods for building models by a three- dimensional spatial decomposition of stochastic, multisensor feature vectors. New sensor information is incrementally incorporated into the model by stochastic backprojection. Error and ambiguity are explicitly accounted for by blurring a spatial projection of remote sensor data before incorporation. The stochastic models can be used to derive surface maps or other representations of the environment. The methods are demonstrated on data sets from multibeam bathymetric surveying, towed sidescan bathymetry, towed sidescan acoustic imagery, and high-resolution scanning sonar aboard a remotely operated vehicle.

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot