Sonar signal acquisition and processing for identification and classification of ship hull fouling
Loading...
Authors
Healey, Anthony J.
Mukherjee, Ranjan
Subjects
Sonar Imaging
Robotics
Hull Cleaning
Autonomous Systems
Robotics
Hull Cleaning
Autonomous Systems
Advisors
Date of Issue
1993-09-30
Date
9/30/1993
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This work has involved the use of the Naval Postgraduate School's TRITECH ST 725 high frequency mechanically scanned sonar system to acquire sonar images of simulated surface roughness on an aluminum plate. Signal post processing for such image data is reviewed, and post processed data is analyzed and compared to the known roughness locations on the plate. The simulated roughness pattern of one half inch steel nuts is used as a preliminary experiment in the developemnt of a sonar detection system for marine growth on ship hull plating. Such a sonar system will be an integral part of any ship hull cleaning robot (SHACR). Contained in this report is a description of the experimental arrangement, typical sonar returns, a summary of image processing techniques, and results of processed data. The algorithms presented here will ultimately lead to a real time processing capability for the specification of location and extent of roughness as needed tfor the automatic direction of the robot's motion.
Type
Technical Report
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
NPS-ME-93-007
Sponsors
Naval Postgraduate School and Naval Surface Warfare Center, David Taylor Research Center
Funder
Naval Postgraduate School and Naval Surface Warfare Center, David Taylor Research Center
Format
iv, 35 p.: ill. ; 28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.