scholarly journals Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents †

2020 ◽  
Vol 8 (3) ◽  
pp. 205 ◽  
Author(s):  
Itzik Klein ◽  
Roee Diamant

Between external position updates, the most useful technique for trajectory estimation of a submerged drifter is dead reckoning (DR). These devices drift with the water current to measure the current’s velocity or to observe physical phenomena. We focus on the specific but important case of when the drifter, due to its size and shape, experiences acceleration by the water current, an effect that must be taken into account during the DR. The force induced by the water current over the drifter is translated into a shift in the heading direction, thus creating a horizontal (sideslip) and a vertical (angle of attack) directional angles between the drifter’s moving direction and its body frame. In this paper, we extend and modify techniques used for pedestrian DR and propose PCA-DR: a principle component analysis-based DR algorithm to estimate the directional angles. Used for cases where the water current is significant such that its force induces acceleration over the drifter and used only for short time periods of a few seconds between navigation fixes, PCA-DR uses acceleration measurements only and does not assume knowledge of the drifter’s dynamics. Instead, as part of the DR process, PCA-DR estimates the directional angles induced by the water current. Compared to the traditional DR approach, our results demonstrate good navigation performance. A designated sea experiment demonstrates the applicability of PCA-DR in a realistic sea environment.

1992 ◽  
Vol 166 (1) ◽  
pp. 61-81
Author(s):  
EDWARD M. GOOLISH

Killifish, Fundulus heteroclitus, subjected to artificial lift above their center of gravity (10% of body weight) required a minimum of 7–8 days to resorb swimbladder gases completely. The swimbladders of some fish, however, did not fall below 50% of normal volume. The rate of increase in swimbladder volume upon removal of lift varied little among individuals, with approximately 6 days required for complete refilling. Previous deflation of the swimbladder (by syringe) did not result in faster or more complete gas resorption when the fish were subjected to artificial lift. This suggests that the constraint to resorption observed in some fish is not mechanical, e.g. connective tissue, but may reflect individual variability in perception of the stimulus. Swimbladder dry mass, which scaled as (body mass)0.79, was not affected by exposure to artificial lift. However, fish subjected to 7–11 days of artificial lift displayed slower rates of gas secretion upon removal of lift than control fish whose swimbladders had been evacuated by syringe. The initial rate was 65 % of that of control fish, with two additional days required to achieve normal buoyancy. Also, the rate of swimbladder gas resorption was 24 % faster the second time fish were exposed to artificial lift. These results demonstrate that the capacity for gas secretion and resorption can be altered by previous exposure to hydrostatic challenges. Killifish buoyancy, expressed as swimbladder volume per weight of the gas-free fish in water, fell from 0.95 to 0.70 mlg−1 after 5 days of exposure to water current. Removal of the pectoral fins eliminated 70% of this decrease, while removal of the pelvic fins had no effect. The rate of gas resorption by fish subjected to artificial lift was also not affected by removal of the pectoral fins. From these results it appears that the decrease in swimbladder volume in fish exposed to water currents is a consequence of lift forces produced by the pectoral fins, but that they are not required for regulation. Fish exposed to water currents or artificial lift swim with a head-down angle of attack. Theoretical estimates show that the vertical force component generated by this swimming behavior is of the appropriate magnitude to compensate for the additional lift. Fish confined in transparent cages near the surface of the water were less buoyant (0.91 mlg−1) than fish similarly maintained at the bottom of the tank (0.98mlg−1). However, because this effect was small, 10% of swimbladder volume, visual perception of vertical position is apparently not the primary stimulus for volume regulation. Partial lift (2.65 % of body weight) resulted in the resorption of twice as much swimbladder gas when attachment was anterior to the fish's center of gravity than when it was an equal distance posterior to the center of gravity. When equal amounts of partial lift and weight were added, lift anterior and weight posterior, no change in swimbladder volume occurred. With the position of these forces reversed, swimbladder volume increased by 31 % to 1.27 ml g−1. These results suggest that fish respond to pitching forces, i.e. longitudinal lift moments, as a stimulus for swimbladder gas secretion and resorption.


2016 ◽  
Vol 78 (10-4) ◽  
Author(s):  
Muhammad Yasar Javaid ◽  
Mark Ovinis ◽  
Fakhruldin Mohd Hashim ◽  
Adi Maimun ◽  
Yasser M. Ahmed ◽  
...  

An autonomous underwater glider speed and range is influenced by water currents. This is compounded by a weak actuation system for controlling its movement. In this work, the effects of water currents on the speed and range of an underwater glider at steady state glide conditions are investigated. Extensive numerical simulations have been performed to determine the speed and range of a glider with and without water current at different net buoyancies. The results show that the effect of water current on the glider speed and range depends on the current relative motion and direction. In the presence of water current, for a given glide angle, glide speed can be increased by increasing the net buoyancy of the glider.


2013 ◽  
Vol 93 (7) ◽  
pp. 1923-1928 ◽  
Author(s):  
Bryan L. Morse ◽  
Heather L. Hunt

Sea urchins can have important ecological effects on benthic communities through their aggregation and feeding behaviour. Urchin movement has been demonstrated to be negatively affected by wave action, but the impact of unidirectional tidal currents on urchin movement has not been investigated. This study examines the effect of unidirectional water velocity on the direction of displacement and movement rate of the green sea urchin, Strongylocentrotus droebachiensis. In laboratory flume experiments there was a clear effect of water currents on the displacement of sea urchins. At speeds ≤30 cm s−1 urchins moved across the current in a downstream direction, but at speeds of ≥36 cm s−1 the urchins switched directions by more than 90° and moved across the current in an upstream direction. There was a significant effect of flow speed on urchin movement speed, with urchin movement speed decreasing as water current speed increased.


2021 ◽  
Vol 13 (4) ◽  
pp. 167-180
Author(s):  
Andra TOFAN-NEGRU ◽  
Cristian BARBU ◽  
Amado STEFAN ◽  
Ioana-Carmen BOGLIS

Recently, additive manufacturing (AM) processes have expanded rapidly in various fields of the industry because they offer design freedom, involve layer-by-layer construction from a computerized 3D model (minimizing material consumption), and allow the manufacture of parts with complex geometry (thus offering the possibility of producing custom parts). Also, they provide the advantage of a short time to make the final parts, do not involve the need for auxiliary resources (cutting tools, lighting fixtures or coolants) and have a low impact on the environment. However, the aspects that make these technologies not yet widely used in industry are poor surface quality of parts, uncertainty about the mechanical properties of products and low productivity. Research on the physical phenomena associated with additive manufacturing processes is necessary for proper control of the phenomena of melting, solidification, vaporization and heat transfer. This paper addresses the relevant additive manufacturing processes and their applications and analyzes the advantages and disadvantages of AM processes compared to conventional production processes. For the aerospace industry, these technologies offer possibilities for manufacturing lighter structures to reduce weight, but improvements in precision must be sought to eliminate the need for finishing processes.


Author(s):  
Elisa Bayraktarov ◽  
Martha L Bastidas Salamanca ◽  
Christian Wild

Coral reefs are subjected to physical changes in their surroundings including wind velocity, water temperature, and water currents that can affect ecological processes on different spatial and temporal scales. However, the dynamics of these physical variables in coral reef ecosystems are poorly understood. In this context, Tayrona National Natural Park (TNNP) in the Colombian Caribbean is an ideal study location because it contains coral reefs and is exposed to seasonal upwelling that strongly changes all key physical factors mentioned above. This study therefore investigated wind velocity and water temperature over two years, as well as water current velocity and direction for representative months of each season at a windand wave-exposed and a sheltered coral reef site in one exemplary bay of TNNP using meteorological data, temperature loggers, and an Acoustic Doppler Current Profiler (ADCP) in order to describe the spatiotemporal variations of the physical environment. Findings revealed that water temperatures (28.7 ± 0.8 °C and maximal 30.3 °C during non-upwelling; 25.1 ± 1.7 °C and minimal 20.3 °C during upwelling) exhibited no significant differences between sites and were negatively correlated with wind velocities (0.4 ± 0.3 m s-1 during non-upwelling and 1.8 ± 1.0 m s-1 with a maximum of 4.1 m s-1 during upwelling). Water current velocity was significantly higher at the exposed compared to the sheltered site during non-upwelling periods at a water depth of 8-10 m. During upwelling, water current velocities were also higher at the exposed site (6.4 cm s-1 exposed and 5.9 cm s-1 sheltered), but when wind speed surpassed 1.7 m s-1, no spatial differences occurred. Water currents showed a clockwise circulation during upwelling following the wind fields, but no clear circulation pattern during non-upwelling. Significant positive correlation between wind and water current velocity was detected at the sheltered, but not at the exposed site. Wind-stress at the exposed site affected water currents throughout the entire water column (at least 10 m deep) during both seasons, but reached only until 3-4 m water depth at the sheltered site during non-upwelling and down to 10 m during upwelling. Consequently, organisms at the exposed site experience constantly high water current exposure throughout the year. This may explain the pronounced site-specific reef community composition differences as water current velocity and circulation control distribution of invertebrate larvae and supply with plankton and essential nutrients.


Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1414 ◽  
Author(s):  
Feng Zhou ◽  
Yushi Li ◽  
Hejun Wu ◽  
Zhimin Ding ◽  
Xiying Li

We study the problem of three-dimensional localization of the underwater mobile sensor networks using only range measurements without GPS devices. This problem is challenging because sensor nodes often drift with unknown water currents. Consequently, the moving direction and speed of a sensor node cannot be predicted. Moreover, the motion devices of the sensor nodes are not accurate in underwater environments. Therefore, we propose an adaptive localization scheme, ProLo, taking these uncertainties into consideration. This scheme applies the rigidity theory and maintains a virtual rigid structure through projection. We have proved the correctness of this three-dimensional localization scheme and also validated it using simulation. The results demonstrate that ProLo is promising for real mobile underwater sensor networks with various noises and errors.


2021 ◽  
Author(s):  
Yan Wang ◽  
Jian Kuang ◽  
xiaoji niu

<div><div>The 3D position estimation of pedestrians is a vital module to build the connections between persons and things.</div><div>The traditional gait model-based methods cannot fulfill the various motion patterns.</div><div>And the various data-driven-based inertial odometry solutions focus on the 2D trajectory estimation on the ground plane, which is not suitable for AR applications.</div><div>TLIO (Tight Learned Inertial Odometry) proposed an inertial-based 3D motion estimator that achieves very low position drift by using the raw IMU measurements and the displacement predict coming from a neural network to provide low drift pedestrian dead reckoning.</div><div>However, TLIO is unsuitable for mobile devices because it is computationally expensive.</div><div>In this paper, a lightweight learned inertial odometry network (LLIO-Net) is designed for mobile devices.</div><div>By replacing the network in TLIO with the LLIO-Net, the proposed system shows similar accuracy but significantly improved efficiency.</div><div>Specifically, the proposed LLIO algorithm was implemented on mobile devices and compared the efficiency with TLIO.</div><div>The inference efficiency of the proposed system is 2-12 times that of TLIO.</div></div>


1963 ◽  
Vol 40 (3) ◽  
pp. 437-446
Author(s):  
F. R. HARDEN JONES

1. An apparatus is described to study the response of fish to moving backgrounds. 2. Observations were made on pike, three-spined sticklebacks, trout, perch and roach; cod, whiting, whiting-pout, smelt, herring, armed bullhead, lesser weaver, plaice, dabs, soles and dogfish. 3. Pike followed a moving background equivalent to a water current of 0.03 cm./sec. Pike were the best and most consistent performers among the freshwater species, followed by the three-spined stickleback, trout, roach and perch. 4. The marine species fell into two groups. The cod, whiting, whiting-pout, smelt, and herring responded to background movements equivalent to water currents of 1-2 cm./sec. The other fish failed to respond to movements equivalent to currents up to 24 cm./sec. and it is thought that this may have been due to contact with the bottom. 5. The fish that orientated to a moving background also responded kinetically. Cod, whiting, and whiting-pout gained on the background (swam upstream) at rotational speeds equivalent to water currents less than 1 fish lengthlsec., but started to lag behind at speeds equivalent to currents faster than 1-2 L/sec., although the fish were shown to be capable of swimming fast enough to keep pace with the background. Herring gained on the background up to rotational speeds equivalent to water currents of 3-4 fish lengths/sec. 6. The results are discussed in relation to the contranatant theory of fish migration.


2012 ◽  
Vol 69 (12) ◽  
pp. 1959-1967 ◽  
Author(s):  
Sarah Humphrey ◽  
Yingming Zhao ◽  
Dennis Higgs

Advection of teleost early life stages from nursery habitats can greatly impact year-class strength. Few studies test the effects of current on retention in freshwater fish eggs and larvae, so we used walleye (Sander vitreus) to assess current effects throughout egg and larval development and the role of substrate on egg retention. Eggs were removed from sand substrates at currents of 12 cm·s–1, but much higher speeds were required for removal from tile or stones. Larvae exhibited biphasic swimming ability, with slow swimming below 21 mm total length and rapidly increasing ability above 21 mm. These data necessitate adjusting models currently used to link water current and nursery advection in this and similar species, as the current effects were clearly substrate- and size-dependent.


2021 ◽  
Author(s):  
Pei Xia ◽  
Yi Zhang ◽  
Heyan Zhang ◽  
Yindong Zhuang

Abstract This paper investigates a particular family of semi-rational solutions in determinant form by using the KP hierarchy reduction method, which describe resonant collisions among lumps or resemble line rogue waves and dark solitons in the Hirota-Maccari system. Due to the resonant collisions, the line resemble rogue waves are generated and attenuated in the background of dark solitons with line profiles of finite length, it takes a short time for the lumps to appear from and disappear into the dark solitons background. These novel dynamic of localized solitary waves may be help to understand some physical phenomena of nonlinear localized waves propagation in many physical settings.


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