基于小波变换的声呐图像压缩方法

提出了一种新的基于小波变换的声呐图像压缩方法：对于小波变换后的系数采用基于零块的编码，充分挖掘小波系数能量集中的特点；在熵编码时使用上下文量化技术来减少上下文个数以提高编码效率。实验结果表明，使用本文的算法压缩声呐图像能够得到较高的压缩比和较好的图像质量。     

A Probabilistic Framework for Sonar Scan Matching Localization

Scan matching is a popular localization technique based on comparing two sets of range readings gathered at consecutive robot poses. Scan matching algorithms implicitly assume that matching readings correspond to the same object in the environment. This is a reasonable assumption when using accurate sensors such as laser range finders and that is why they are extensively used to perform scan matching localization. However, when using other sensors such as ultrasonic range finders or visual sonar, this assumption is no longer valid because of their lower angular resolution and the sparsity of the readings. In this paper we present a sonar scan matching framework, the spIC, which is able to deal with the sparseness and low angular resolution of sonar sensors. To deal with sparseness, a process to group sonar readings gathered along short robot trajectories is presented. Probabilistic models of ultrasonic and odometric sensors are defined to cope with the low sonar angular resolution. Consequently, a probabilistic scan matching process is performed. Finally, the correction of the whole robot trajectory involved in the matching process is presented as a constrained optimization problem.     

金坛盐矿采卤溶腔利用与改造技术

为了加快长江三角洲地区储气库的建设进程，保证西气东输整个长输管道的平稳运行，对储气库选址内的15口已有采卤溶腔的可利用性进行了研究。通过声纳检测及稳定性初步评价，挑选出6个具备可利用条件的已有采卤溶腔。经过对已有卤溶腔改造方案的分析与比较，提出了最优的施工方案。     

Effect of Fe and Fe-Ba substitution on the piezoelectric and dielectric properties of lead zirconate titanate ceramics

Polycrystalline samples of Fe and Fe-Ba doped lead zirconate titanate (PZT) ceramics near the morphotrophic phase boundary have been synthesized by a solid-state reaction technique. Preliminary X-ray analysis of the compound confirms that there is no change in the crystal structure of PZT on co-doping with Fe and Ba. The maximum mechanical quality factor Q_m was found to be 1000 for Fe doped material and 880 for Fe-Ba doped material. The electromechanical coupling factor for Fe and Fe-Ba doped samples were 0.535 and 0.495 respectively. The corresponding values for the piezoelectric charge constant d₃₃ were 135 and 250 pC/N respectively. These results are discussed in terms of position occupied by dopants in to the lattice and their corresponding microstructures. These Fe-Ba doped PZT materials could be likely candidates for high power ultrasonic and underwater SONAR transducer systems.     

General Feature Extraction for Mapping and Localization of a Mobile Robot Using Sparsely Sampled Sonar Data

This study introduces a method of general feature extraction for building a map and localization of a mobile robot using only sparsely sampled sonar data. Sonar data are acquired by using a general fixed-type sensor ring that frequently provides false returns on the locations of objects. We first suggest a data association filter that can classify sets of sonar data that are associated with the same hypothesized feature into one group. A feature extraction method is then introduced to decide the exact geometric parameters of the hypothesized feature in the group. We also show the possibility of extracting a circle feature consistently as well as a line or a point feature by using the proposed filter. These features are then assembled to build a global map and applied to extended Kalman filter-based localization of the robot. We demonstrate the validity of the proposed filter with the results of mapping and localization produced by real experiments.     

Sonar Map Construction for Autonomous Mobile Robots Using a Data Association Filter

This paper presents a method for building a probability grid map for autonomous mobile robots with ultrasonic sensors using a data association filter (DAF). The method is based on evaluating the possibility that the acquired sonar data are all reflected by the same object. The DAF is able to associate data points with each other. Data affected by specular reflection are not likely to be associated with the same object, so they are excluded from the data cluster by the DAF, thereby improving the reliability of the data used for the probability grid map. Since the corrupted data are not used to update the probability map, it is possible to build a good quality grid map even in a specular environment. The DAF was applied to the Bayesian and the Orientation probability models, which are typical models used to build grid maps, to verify its effectiveness. Experimental results were also obtained using a mobile robot in a real-world environment.     

Terrain-Based Navigation for Underwater Vehicles Using an Ultrasonic Scanning System

In this paper an approach to the field of outdoor robotic navigation with a focus on underwater simultaneous localization and mapping (SLAM) is proposed that utilizes ultrasonic scanning images. Experimental results from the implementation of a SLAM algorithm with real data are presented. The projected landmark detection process constructs a map of the environment and generates navigation estimates based on an adaptive delayed nearest-neighbor algorithm. The feature extraction and validation processes are resolved at the sensor level using a simple local maximum-level detection algorithm on the range data. This paper presents experimental results from our research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in a shallow water environment.     

Three‐dimensional reconstruction of underwater objects using wide‐aperture imaging SONAR

The estimation of the geometric structure of objects located underwater underpins a plethora of applications such as mapping shipwrecks for archaeology, monitoring the health of coral reefs, detecting faults in offshore oil rigs and pipelines, detection and identification of potential threats on the seabed, etc. Acoustic imaging is the most popular choice for underwater sensing. Underwater exploratory vehicles typically employ wide‐aperture Sound Navigation and Ranging (SONAR) imaging sensors. Although their wide aperture enables scouring large volumes of water ahead of them for obstacles, the resulting images produced are blurry due to integration over the aperture. Performing three‐dimensional (3D) reconstruction from this blurry data is notoriously difficult. This challenging inverse problem is further exacerbated by the presence of speckle noise and reverberations. The state‐of‐the‐art methods in 3D reconstruction from sonar either require bulky and expensive matrix‐arrays of sonar sensors or additional narrow‐aperture sensors. Due to its low footprint, the latter induces gaps between reconstructed scans. Avoiding such gaps requires slow and cumbersome scanning by the vehicles that carry the scanners. In this paper, we present two reconstruction methods enabling on‐site 3D reconstruction from imaging sonars of any aperture. The first of these presents an elegant linear formulation of the problem, as a blind deconvolution with a spatially varying kernel. The second method is a simple algorithmic approach for approximate reconstruction, using a nonlinear formulation. We demonstrate that our simple approximation algorithms perform 3D reconstruction directly from the data recorded by wide‐aperture systems, thus eliminating the need for multiple sensors to be mounted on underwater vehicles for this purpose. Additionally, we observe that the wide aperture may be exploited to improve the coverage of the reconstructed samples (on the scanned object's surface). We demonstrate the efficacy of our algorithms on simulated as well as real data acquired using two sensors, and we compare our work to the state of the art in sonar reconstruction. Finally, we show the employability of our reconstruction methods on field data gathered by an autonomous underwater vehicle.