Sound Silencing Problem of Underwater Vehicles

Listewnik, Karol

doi:10.4028/www.scientific.net/ssp.196.212

Cited by 14 publications

(6 citation statements)

References 5 publications

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“…Other problems, like negative influence of ROV self-noise on detection aspect in water environment [21] or ROV control [22][23][24][25] will be considered as well.…”

Section: Experimental Validationmentioning

confidence: 99%

Underwater robotic system for reservoir maintenance

Kohut¹,

Giergiel²,

Cieśląk³

et al. 2016

J. vibroeng.

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In this paper a description and practical implementation of the developed prototype of an underwater hybrid robot is presented. The solution is based on the guidelines of Cracow waterworks (Municipal Waterworks and Sewer Enterprise, MPWiK S.A.). The prototype of the hybrid robot consists of a crawler robot and a ROV. Robots' design, mathematical models of kinematics and dynamics of the crawler robot, ROV's vision system architecture with image processing methods for surface crack detection and robot position and attitude estimation are investigated and examined. Results obtained from experimental validation of the developed prototype are presented and discussed. Finally, the paper establishes future research directions.

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“…Other problems, like negative influence of ROV self-noise on detection aspect in water environment [21] or ROV control [22][23][24][25] will be considered as well.…”

Section: Experimental Validationmentioning

confidence: 99%

Underwater robotic system for reservoir maintenance

Kohut¹,

Giergiel²,

Cieśląk³

et al. 2016

J. vibroeng.

View full text Add to dashboard Cite

show abstract

“…The most of the world’s navies have the infrastructure for precise three-axis magnetic field measurement of ships and marine equipment, ROVs and UUVs, and surface USVs [ 1 ]. This measurement is usually carried out by two methods, related to the fact that the magnetic, electric, hydroacoustic, and hydrodynamic fields (signatures) are measured simultaneously: Measurement using special infrastructure on land: only the magnetic field (and partial airborne equipment acoustic testing [ 2 ]), as the other fields require the presence of a water medium; Measurement in the sea on special measurement ranges, where the ship’s route is marked with buoys or guides and supported by GPS systems (measuring equipment is placed on the bottom of the sea basin or mounted on AUVs [ 3 , 4 ]). …”

Section: Introductionmentioning

confidence: 99%

“…Measurement in the sea on special measurement ranges, where the ship’s route is marked with buoys or guides and supported by GPS systems (measuring equipment is placed on the bottom of the sea basin or mounted on AUVs [ 3 , 4 ]).…”

Section: Introductionmentioning

confidence: 99%

Rotary 3D Magnetic Field Scanner for the Research and Minimization of the Magnetic Field of UUV

Listewnik

Aftewicz

2022

Sensors

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Research on the value and nature of physical quantities allows for a detailed understanding of the conditions in the studied area, and the quality and precision of the final conclusions depend on the accuracy of the measurements. In order to increase the accuracy of measurements, the measurement infrastructure and unmanned vehicles used during the observation should introduce the lowest possible disturbance–they should be minimized in terms of the magnetic field. This article presents a solution based on the infrastructure model and the development of a method using polynomial regression to study the magnetic field in three dimensions (3D-longitudinal X, transverse Y, and vertical Z components). The test stand consists of an Arduino Mega microcontroller, a rotary table driven and controlled by a stepper motor, a touch display whose task is to control the magnetic field measurement parameters and display 3D data, and proprietary software made in the Python programming language. The structural elements of the stand model were produced by an additive method using a 3D printer. The presented solution belongs to the group of modern technological solutions known as the technology of low object detection (stealth technology or low observable technology).

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“…In the literature, there are a few attempts at characterizing the noise generated by an underwater robot, most of them with the goal of achieving stealth in military applications [ 23 , 24 ]. Regardless of the reason for carrying out such a characterization, all works have used a setup involving hydrophones (attached to the robot, externally positioned or both) and a controlled recording environment, such as an empty swimming pool or ad hoc facilities, to minimize acoustic reflections.…”

Section: Introductionmentioning

confidence: 99%

A Minimal Metric for the Characterization of Acoustic Noise Emitted by Underwater Vehicles

Picardi

Borrelli

Sarti

et al. 2020

Sensors

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Underwater robots emit sound during operations which can deteriorate the quality of acoustic data recorded by on-board sensors or disturb marine fauna during in vivo observations. Notwithstanding this, there have only been a few attempts at characterizing the acoustic emissions of underwater robots in the literature, and the datasheets of commercially available devices do not report information on this topic. This work has a twofold goal. First, we identified a setup consisting of a camera directly mounted on the robot structure to acquire the acoustic data and two indicators (i.e., spectral roll-off point and noise introduced to the environment) to provide a simple and intuitive characterization of the acoustic emissions of underwater robots carrying out specific maneuvers in specific environments. Second, we performed the proposed analysis on three underwater robots belonging to the classes of remotely operated vehicles and underwater legged robots. Our results showed how the legged device produced a clearly different signature compared to remotely operated vehicles which can be an advantage in operations that require low acoustic disturbance. Finally, we argue that the proposed indicators, obtained through a standardized procedure, may be a useful addition to datasheets of existing underwater robots.

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Sound Silencing Problem of Underwater Vehicles

Cited by 14 publications

References 5 publications

Underwater robotic system for reservoir maintenance

Underwater robotic system for reservoir maintenance

Rotary 3D Magnetic Field Scanner for the Research and Minimization of the Magnetic Field of UUV

A Minimal Metric for the Characterization of Acoustic Noise Emitted by Underwater Vehicles

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