Sonar signal acquisition and processing for identification and classification of ship hull fouling
By: A.J. Healey, Ranjan Mukherjee
Contributors: Mukherjee, Ranjan; Naval Postgraduate School (U.S.). Dept. of Mechanical Engineering
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1993
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 35
Subjects: ACOUSTIC DETECTION; SONAR IMAGES; FOULING ORGANISMS; SHIP HULLS; ROBOTS; CLEANING
Other titles: NPS-ME-93-007.
Description: 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 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.
Notes: Title from cover.

"NPS-ME-93-007."

"September 30, 1993."

AD A275 983.

Includes bibliographical references.

Both copies are missing page 36.

aq/aq cc:9116 02/26/98