An enhanced underwater camera apparatus for seabed observation of megabenthic epifauna in the northern Yellow Sea

Seabed photographing has been applied with various underwater camera apparatuses(UCAs)for observations of megabenthic epifauna,which reveals more details than traditional sampling tools do.In this study,we improved a UCA named a towed underwater video-camera system(TUV system)with image processing software for seabed photographing in coastal areas up to 100 m.In May 2017,the TUV system was tested at 4 stations in the Zhangzi Island marine area in the northern Yellow Sea to investigate local megabenthic epifauna,especially brittle stars.At each station,more than 500 good seabed photographs each in area of 0.1550 m2 were obtained in just 10 min.Almost all of the epifauna larger than 1 mm could be identified from the photographs,including echinoderms,bivalves,cnidarians,and crustaceans.Three dominant brittle stars(Ophiopholis mirabilis,Ophiura sarsii vadicola,and Stegophiura sladeni)were spotted,and their abundance,disc diameter,cluster size,and coverage area were calculated and analyzed from the seabed photographs.The results show that the TUV system could be applied in coastal waters of hard sandy bottoms and could be used for quantitative investigations of megabenthic epifauna.

UnderwaterWaste Recognition and Localization Based on Improved YOLOv5

With the continuous development of the economy and society,plastic pollution in rivers,lakes,oceans,and other bodies of water is increasingly severe,posing a serious challenge to underwater ecosystems.Effective cleaning up of underwater litter by robots relies on accurately identifying and locating the plastic waste.However,it often causes significant challenges such as noise interference,low contrast,and blurred textures in underwater optical images.A weighted fusion-based algorithm for enhancing the quality of underwater images is proposed,which combines weighted logarithmic transformations,adaptive gamma correction,improved multi-scale Retinex(MSR)algorithm,and the contrast limited adaptive histogram equalization(CLAHE)algorithm.The proposed algorithm improves brightness,contrast,and color recovery and enhances detail features resulting in better overall image quality.A network framework is proposed in this article based on the YOLOv5 model.MobileViT is used as the backbone of the network framework,detection layer is added to improve the detection capability for small targets,self-attention and mixed-attention modules are introduced to enhance the recognition capability of important features.The cross stage partial(CSP)structure is employed in the spatial pyramid pooling(SPP)section to enrich feature information,and the complete intersection over union(CIOU)loss is replaced with the focal efficient intersection over union(EIOU)loss to accelerate convergence while improving regression accuracy.Experimental results proved that the target recognition algorithm achieved a recognition accuracy of 0.913 and ensured a recognition speed of 45.56 fps/s.Subsequently,Using red,green,blue and depth(RGB-D)camera to construct a system for identifying and locating underwater plastic waste.Experiments were conducted underwater for recognition,localization,and error analysis.The experimental results demonstrate the effectiveness of the proposed method for identifying and locating underwater plastic waste,and it has good localization accuracy.

Electric characteristic and cavitation bubble dynamics using underwater pulsed discharge

Underwater pulsed discharge is widely applied in medicine, machining, and material modification.The induced cavitation bubble and subsequent cavitation collapse are considered the major motivations behind these applications. This paper presents an underwater pulsed discharge system.The experimental setup is established to induce and investigate the cavitation bubble assisted with a high-speed camera. Three aspects, including the characteristic of the discharge with different applied voltages and conductivities, the evolution of the cavitation bubble profile, and the energy efficiency of cavitation bubble inducing, are investigated, respectively. Especially, the mechanism of pre-discharge time delay in the low field intensity case is explained using the Joule heat effect.The results show the validity of the underwater pulsed discharger and experimental setup. The present underwater pulsed discharger is proved to be a simple, portable, and easy-to-implement device for the investigation of cavitation bubble dynamics.

Underwater Image Enhancement Based on the Dark Channel Prior and Attenuation Compensation

Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior(ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.

A Review of RGB-D Camera Calibration Methods

RGB-D camera is a new type of sensor,which can obtain the depth and texture information in an unknown 3D scene simultaneously,and they have been applied in various fields widely.In fact,when implementing such kinds of applications using RGB-D camera,it is necessary to calibrate it first.To the best of our knowledge,at present,there is no existing a systemic summary related to RGB-D camera calibration methods.Therefore,a systemic review of RGB-D camera calibration is concluded as follows.Firstly,the mechanism of obtained measurement and the related principle of RGB-D camera calibration methods are presented.Subsequently,as some specific applications need to fuse depth and color information,the calibration methods of relative pose between depth camera and RGB camera are introduced in Section 2.Then the depth correction models within RGB-D cameras are summarized and compared respectively in Section 3.Thirdly,considering that the angle of the view field of RGB-D camera is smaller and limited to some specific applications,we discuss the calibration models of relative pose among multiple RGB-D cameras in Section 4.At last,the direction and trend of RGB-D camera calibration are prospected and concluded.

基于双目立体视觉的水下RGB-D相机

为满足水下机器人水下目标识别、精细作业的需要,研制了一种融合3D点云和二维RGB图像为一体的RGB-D水下相机工程样机。针对水下环境的特殊性,考虑水下多层折射效应,建立水下相机成像及双目立体成像模型。将水下图像转换为空气中的图像来消除折射对重建精度的影响,进行对应点像素匹配,重建3D点云。采用基于颜色校正和暗原色先验的水下图像增强算法对左、右水下图像进行图像增强处理。最后,构建对准叠加模型将3D点云和二维彩色数据叠加融合,获得水下RGB-D图像数据。实验表明:研制的水下RGB-D工程样机具有较好的三维测量精度,3 m远处的系统重建误差为2.6 mm,颜色再现真实,3D点云数据与RGB二维图像对准精准。这对于水下目标识别和水下机器人精细作业具有重要意义。

东沙群岛海区海底泥火山上拍摄到深水生物——自主研发的水下相机试验取得重要发现

通过自研的便携式水下相机,在东沙群岛西北海区水深250~350m的地球物理成像的泥火山上拍摄到了大量深水底栖活体生物、化石和自生碳酸盐结核,其中含有丰富的深水珊瑚、玻璃海绵、海葵、海百合及鱼虾螺贝等。拍摄结果进一步指示了东沙群岛西北部海区存在活跃的甲烷泄漏及泥火山活动。

基于线激光三维视觉的燃料组件水下在位变形测量方法

为了解决燃料组件弯曲与扭曲变形水下在位测量难题,提出了基于线激光三维视觉的燃料组件水下在位变形测量方法。通过基于单层折射的水下相机标定、基于平面约束的光平面标定算法研究解决单个测量单元的标定问题;研究基于三维标定工装的10组测量单元在位快速标定方法,解决测量系统全局坐标统一问题,并利用激光跟踪仪测量标定工装的弯扭精度,进行测量精度对比试验验证。研究表明,研制的基于线激光三维视觉的燃料组件水下在位变形测量系统扭曲测量误差限为0.15°,弯曲测量误差限为0.3 mm,且整个测量时间约在1 s,测量效率和测量误差限优于现有的测量系统。

基于线阵相机的水下射弹动态参数及超空泡演化过程测量方法

针对水下环境恶劣、光线条件差、难以拍摄并复原高速射弹运动姿态及其超空泡演化过程等问题,采用线阵相机的交汇测量原理,设计基于线阵相机的水下射弹图像采集系统、搭建基于双线阵相机的图像采集靶面,提出一种针对水下高速超空泡目标识别与弹形复原算法。利用超空泡射弹几何关系与相机标定数据推导出射弹过靶坐标、姿态角与过靶速度公式,搭建12.7 mm滑膛枪垂直发射入水实验,对系统的可行性进行验证分析。实验结果表明:该系统能够有效地进行水下射弹图像的快速采集,较完整的对弹形及空泡形态进行分离与复原,解算出射弹水下运动速度、姿态角及超空泡形态参数;系统解算出的速度与同时部署的高速摄像所处理的速度误差在1%以内,证明该系统具有较高的可靠性与实用性。

Study on the mechanism of near-field underwater explosion on supported thin plates with prefabricated holes

In this study,underwater explosion tests with 2.5 g trinitrotoluene explosive under different fixed plates with prefabricated holes were conducted.The experimental results showed that the air inflow from the prefabricated hole caused the bubble to collapse earlier with an increase in the hole diameter.In addition,the deformation mode of the thin plate transitioned from“convex”to“concave”(up to down).Next,the coupled Eulerian-Lagrangian method was used to perform the corresponding numerical simulation.The accuracy of the numerical simulation method was verified through a comparison with the experimental data.In addition,a series of numerical simulations were conducted with different prefabricated-hole diameters,blast distances,and prefabricated-hole shapes.The results showed that the bubble-pulsating water jet substantially influenced the deformation of the thin plate when the diameter of the prefabricated hole was within the theoretical maximum bubble radius.When the blast distance was within the theoretical maximum bubble radius,the thin plate was subjected to only a single bubble pulsation owing to the air inflow from the prefabricated hole.

水下天空偏振光视频采集实验装置设计与应用

水下天空偏振信息的获取是水下潜航器实现偏振光导航的重要基础,为此搭建一种水下偏振相机采集天空偏振分布的实验装置,用于采集天空光经过水面折射后的水下偏振分布。实验装置分为防水外壳和偏振光传感器两部分。防水外壳的设计主要从材质、质量和密闭性考虑,偏振光传感器的核心是通过程序实现工控机控制偏振相机拍摄0°、45°、90°、135°的偏振图像和斯托克斯的4个矢量图像。结合计算机技术,利用相关算法计算偏振角、偏振度和偏振方位角。结果表明,偏振度和偏振角在太阳子午线上呈对称分布,太阳附近的偏振度最小,并以环状向外增大。该装置采集的数据能够有效提取太阳的方位信息。

不同类型炸药近场水下爆炸下固支方板动态响应研究

该文开展了2.5 g TNT、RDX和B炸药在固支方板底部近距离起爆的水下爆炸试验,研究了固支方板在水下爆炸冲击波、气泡脉动、水射流载荷共同作用下的动态响应。试验结果表明:含能较低的TNT炸药使方板呈现整体上凸式永久变形,含能较高的B炸药和RDX炸药会使方板呈现中部上凸、边部下凹式永久变形。为了进一步探讨不同炸药对固支方板的毁伤特性,通过ABAQUS软件对水下爆炸全过程进行数值模拟,数值模拟结果显示:在气泡膨胀的过程中,气泡内部压力逐渐小于大气压力,固支方板在压力差的作用下向下凹陷,接着在气泡脉动和水射流的联合作用下向上凸起,在不同类型炸药产生的气泡作用下方板凸起过程中动态响应的差异是其呈现不同毁伤形态的根本原因。仿真结果还显示,固支方板的最大等效塑性应变发生在固支边界处;增加板厚可有效防止固支方板发生中凸边凹式变形。该文的工作可为水下战斗部设计提供参考。

顶进节段法最终接头测控技术研究与应用

大连湾海底隧道采用顶进节段法最终接头,顶进节段无安装测量塔条件,且全程为水下施工,传统定位设备难以使用,给最终接头顶推水下定位提出了新的技术难题,为此研究以拉线位移计、摄像位移计、磁致位移传感器三者组合而成的最终接头水下定位系统,实现最终接头顶推施工全程高精度定位。

Underwater video cameras allow for detection of North American giant salamanders (Cryptobranchus alleganiensis alleganiensis) in both captive and wild streams

Captive propagation and translocation are becoming vital components of conservation and management strategies for Eastern hellbender(Cryptobranchus a.alleganiensis)populations.Zoos,aquaria,universities,and state and federal agencies are concomitantly collaborating on the protection,education,and maintenance of captive populations of this unusual,cryptic salamander.Conservation strategies include the use of artificial nesting structures,collection of eggs from the wild,and head-starting individuals in zoos or hatcheries.The effects of these strategies need to be monitored,however,traditional survey and monitoring methods for the species in the wild involves rock-lifting,which has the potential to both harm habitat and alter reproductive behavior.Therefore,there is a need to develop effective,non-invasive and non-destructive methods of monitoring both wild and captive populations of Eastern hellbenders.Herein,we compare two simple,affordable,underwater video and camera systems(borescope and Aqua-Vu cameras)in their ability to 1)facilitate detection of adults under potential cover items and 2)facilitate nest detection and monitoring in both wild and captive environments.Both cameras were successful in detecting individual hellbender presence,albeit with different resolutions and detection times.The borescope was better at accessing deep cavities given its large flexible attachment which allowed for greater flexibility of scanning crevices of adult shelters.However,search time increased and even low levels of suspended sediment reduced visibility with the borescope.The Aqua-Vu camera provided greater overall visibility and faster detection of individuals under both natural and artificial shelters.There was a significant difference in the amount of time required to detect hellbenders with each camera design when searching under natural rocks(borescope:median=67.8 s,Aqua-Vu:median=39.1 s;Kruskal Wallis Test H=15.62,p<0.001)and artificial shelters(borescope:median=30.9 s,Aqua-Vu:median=13 s;Kruskal Wallis Test H=25.23,p<0.0001).We detected 8 natural nests with actively guarding males and only one individual using a wild artificial shelter.We recommend hellbender researchers utilize a combination of underwater video cameras to suit their specific survey goals in both captive and field settings.Moreover,we recommend zoo staff incorporate these methods to not only monitor captive populations but also to potentially record breeding behavior in zoos and aquariums.

水下电视摄象系统的研制与开发

论述了水下电视摄象系统中的光学设计、电气器件、精密机械设计、照明和与系统相关的综合因素．

水下电视系统研制中的技术难点及解决方法

水下电视是海洋研究与开发的得力工具，但由于水对光的散射和吸收，使光学成象方法在水下环境中的使用受到了限制，同时由于使用环境的特殊性，使水下电视系统的设计和研制较陆上电视系统有更大的难度．本文指出了主要的技术关键及设计与使用水下电视系统时需注意的问题，最后给出了水下电视系统研制的实例．

短须裂腹鱼产卵行为观察

2014-2016年两个繁殖期,采用定点原位水下视频观察法,在四川省攀枝花市国胜河开展了短须裂腹鱼(Schizothorax wangchiachii)产卵行为研究。结果显示,短须裂腹鱼繁殖期主要的产卵行为包括探索环境、领域争夺与防卫、配偶选择、交配、亲体护卫等。基于观察结果提出了短须裂腹鱼的产卵行为模式。

柱形装药水中爆炸近场径向压力测试初探

针对端面起爆柱形装药水中爆炸近场冲击波阵面呈现非球形传播的特点,采用分幅相机记录了炸药起爆36μs内近场冲击波的传播情况,分析了冲击波在不同时间和不同位置的形状;采用两台高速扫描相机测量了侧边任意一点的冲击波速度,结合Rankine-Hugoniot关系,得到了冲击波阵面的压力;同时用LS-DYNA方法对侧边任意一点的压力进行了数值模拟,两者得到的结果基本一致。

水下摄影测量共线理论与相机标定方法

基于摄影光学理论，分析了相机在空气中和水下成像基点位置关系，提出水下摄影三点共线理论，并推导出相机在水下主距变化模型；分析了相机水下摄影视场和畸变大小的变化，设计了水下摄影测量相机标定方法；最后通过水下摄影试验标定，验证了水下摄影三点共线理论的正确性和水下相机标定方法的实用性。

炸药水中爆炸冲击波超高速同时分幅/扫描摄影技术

研究了超高速同时分幅/扫描摄影技术在炸药水中爆炸冲击波传播中的应用效果,并采用自研的同时分幅/扫描超高速光电摄影系统对炸药水中爆炸过程进行拍摄。结果表明,该系统能够拍摄同一时基、同一空基且具有超高时空分辨的一维和二维图像,进而成功观察到60mm×66mm TNT炸药在水中爆炸冲击波传播过程,获得该过程冲击波阵面平均传播速度及压力。这可为水中兵器战斗部的设计及毁伤效能评估提供参考。