acoustic detection and bottom classification · sssand!!!unmanned!underwater!vehicle(uuv)! sss...
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Acoustic detection and bottom classification
Zygmunt Klusek
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• detection, recognition and mapping of dumped munitions fusing the acoustic, magnetic and visual imaging methods
• technology development in improving the acoustical imaging of buried ammunition
• arrangement of the data base of all collected information for integrated system that includes geographical coordinates and the precise characteristics of the targets.
GOALS OF THE PROJECT (SELECTED ISSUES)
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• INTRODUCTION
• ACOUSTIC METHODS/MEASUREMENT SETUP SIDE SCAN SONAR MULTIBEAM SONAR
NEW TECHNOLOGIES
• COMPLEMENTARY METHODS – MAGNETOMETER, ROV • BOTTOM RECOGNITION
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Survey Equipment
SSS Klein 5000, Gradiometer 4-axis Marine Magnetics Multibeam Reson 7125 SV2 200/400 kHz
ROV Ocean Modules V8 MVP 200 Broke Ocean MVP Fish USBL
SSS Winch
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Technology of the amuni=on detec=on
Three stages of geophysical surveys in the amuni=on detec=on and recogni=on required employment of: • Acoustic techniques : Side Scan Sonar, Multibeam Sonar, chirp broadband echosounder/ multifrequency split-‐beam echosounders/ parametric sonar • Magnetometric techniques • ROV – positioning, visualisation and sampling
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Hydroacoustic will also deliver data to prepare bathymetric and type of sediment maps (FOR MODELLING OF TRANSPORT OF TOXIC SUBSTANCES).
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SIDE SCAN SONAR
¡ The sensor is towed behind the ship near sea bottom. The swath width is typically up to 100 m.
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SSS and unmanned underwater vehicle (UUV)
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SSS SIGNAL PROCESSING
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Target detec=on – hard boNom
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Targets
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SSS IMAGES PROCESSING
RAW DATA PREPROCESSING PROCESSING: GEOMETRY &
POSITION CORRECTIONS MAPPING
POSTPROCESSING:
INTERPRETATION BY OPERATOR OR
COMPUTER ASSISTED
c PRODUCT
c ADDITIONAL INFORMATION
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DECISIONS
• HIGHER SHIP SPEED (BIGGER AREA COVERING) – LOWER RESOLUTION (ALONG PATH)
• HIGH VS. LOWER FREQUENCY • HOW MANY PIXELS, RESAMPLING ? REDUCING GREYS LEVELS? (GAINS -‐ MEMORY, TIME CONSUMING OPERATIONS)
• WHAT KIND OF TRANSFORMING OPERATIONS (SMOOTHING, STRETCHING, CONTRASTS, COLOURS, ETC.)
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STRATEGIES OF SAMPLING (WITH SONARS)
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PLANNING AREA COVERAGE
• If full coverage of the seabed is required swaths be should overlapped
by at least 50% to achieve 100% coverage. • Swaths are typically overlapped by 20 to 30%. • To achieve the maximum coverage possible, the transducers must be a
suitable height above the seabed (between 10 to 20% of the swath width).
• For most 100kHz systems 10% per side with swaths widths could be maximized up to 200m per side with the fish traveling 20m from the seabed.
Op=mis=cally • 4 *1850[m/hour]*200 m*1 hour/0.3 1 sq.km/hour
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Product – map of target distribution All classes of targets Subarea T
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EQUIPMENT MulTbeam Sonars
Appropriate for imaging of the wrecks, protruded objects and seafloor mapping in water depths between 0.5 and 150 meters.
Theoretically swath width 10 x water depth, however for the above 100 m depths and sound refraction the real swath width, target recognition is substantially diminished.
However - the minimal diameter of the spot at 100 m depth is 2.5. m !
MAIN TASKS –bottom topography + detection and visualisation of bigger objects
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Technology of the amuni=on detec=on
• Even though, in the last couple decades, many systems and algorithms had been introduced.
• One of the limitaTons of real-‐Tme recogniTon systems is the computaTonal or hardwer complexity of exisTng approaches.
• The general problem of these systems is their computaTonal cost in data pre-‐preparaTon and transformaTon to other spaces such as eigenspace, Fisherspace , wavelet transform or cosine transform
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Newest technologies
• Synthe=c aperture sonar (SAS) is a form of sonar in which sophis=cated post-‐processing of sonar data are used in ways closely analogous to synthe=c aperture radar.
• Synthe=c aperture sonars combine a number of acous=c pings to form an image with much higher resolu=on than conven=onal sonars, typically 10 =mes higher. (4-‐5 cm)
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Magnetometric and Remote Operated Vehicle (ROV)
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Probably Chemical Munition Objects The image part with relationship ID rId5 was not found in the file.
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Acous=c boNom recogni=on one beam classical echosounder
Klusek, Tęgowski, 1999 Tęgowski, , 2002
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Acous=c boNom recogni=on
• SIDE SCAN SONAR • BoNom type recogni=on • (Object-‐oriented classifica=on of • sidescan sonar data for mapping • benthic marine habitats)
• (Univ. of Gdansk • IO PAS, Sopot • P.Paukszys)
•
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Acous=c boNom classifica=on
Mul=beam sonar
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Tegowski, etl al. 2011
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Thank you for aNen=on
Kiitos