MARC record from Internet Archive

LEADER: 02434nam 2200349 a 45 0
001 a194613
008 980226s1993 caua b f000|0 eng d
040 $aCMontNP$cCMontNP
086 0 $aD 208.14/2:NPS-ME-93-007
100 1 $aHealey, Anthony J.
245 10 $aSonar signal acquisition and processing for identification and classification of ship hull fouling /$cA.J. Healey, Ranjan Mukherjee.
260 $aMonterey, Calif. :$bNaval Postgraduate School ;$aSpringfield, Va. :$bAvailable from National Technical Information Service,$c[1993]
300 $aiv, 35 p. :$bill. ;$c28 cm.
500 $aTitle from cover.
500 $a"NPS-ME-93-007."
500 $a"September 30, 1993."
500 $aAD A275 983.
504 $aIncludes bibliographical references.
520 $aThis 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 development 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 for the automatic direction of the robot's motion. Sonar imaging, Robotics, Hull cleaning, Autonomous systems.
590 $aBoth copies are missing page 36.
592 $aaq/aq cc:9116 02/26/98
650 4 $aCLEANING.
650 4 $aROBOTS.
650 4 $aSHIP HULLS.
650 4 $aSONAR IMAGES.
650 4 $aFOULING ORGANISMS.
650 4 $aACOUSTIC DETECTION.
700 1 $aMukherjee, Ranjan.
710 2 $aNaval Postgraduate School (U.S.).$bDept. of Mechanical Engineering.
740 01 $aNPS-ME-93-007.
926 $aNPS-LIB$bDIGIPROJ$cD 208.14/2:NPS-ME-93-007$dBOOK$eNEVER$f1
926 $aNPS-LIB$bFEDDOCS$cD 208.14/2:NPS-ME-93-007$dBOOK$f2