Biblio

It is necessary to improve the safety of the underwater acoustic sensor networks (UASNs) since it is mostly used in the military industry. Specific emitter identification is the process of identifying different transmitters based on the radio frequency fingerprint extracted from the received signal. The sonar transmitter is a typical low-frequency radiation source and is an important part of the UASNs. Class D power amplifier, a typical nonlinear amplifier, is usually used in sonar transmitters. The inherent nonlinearity of power amplifiers provides fingerprint features that can be distinguished without transmitters for specific emitter recognition. First, the nonlinearity of the sonar transmitter is studied in-depth, and the nonlinearity of the power amplifier is modeled and its nonlinearity characteristics are analyzed. After obtaining the nonlinear model of an amplifier, a similar amplifier in practical application is obtained by changing its model parameters as the research object. The output signals are collected by giving the same input of different models, and, then, the output signals are extracted and classified. In this paper, the memory polynomial model is used to model the amplifier. The power spectrum features of the output signals are extracted as fingerprint features. Then, the dimensionality of the high-dimensional features is reduced. Finally, the classifier is used to recognize the amplifier. The experimental results show that the individual sonar transmitter can be well identified by using the nonlinear characteristics of the signal. By this way, this method can enhance the communication safety of the UASNs.

Project Aquaticus is a human-robot teaming competition on the water involving autonomous surface vehicles and human operated motorized kayaks. Teams composed of both humans and robots share the same physical environment to play capture the flag. In this paper, we present results from seven competitions of our half-court (one participant versus one robot) game. We found that participants indicated more trust in more aggressive behaviors from robots.

Explosive naval mines pose a threat to ocean and sea faring vessels, both military and civilian. This work applies deep neural network (DNN) methods to the problem of detecting minelike objects (MLO) on the seafloor in side-scan sonar imagery. We explored how the DNN depth, memory requirements, calculation requirements, and training data distribution affect detection efficacy. A visualization technique (class activation map) was incorporated that aids a user in interpreting the model's behavior. We found that modest DNN model sizes yielded better accuracy (98%) than very simple DNN models (93%) and a support vector machine (78%). The largest DNN models achieved textless;1% efficacy increase at a cost of a 17x increase of trainable parameter count and computation requirements. In contrast to DNNs popularized for many-class image recognition tasks, the models for this task require far fewer computational resources (0.3% of parameters), and are suitable for embedded use within an autonomous unmanned underwater vehicle.

In this paper, the mathematical framework of behavioral system will be applied to detect the cyber-attack on the networked control system which is used to control the remotely operated underwater vehicle ROV. The Intelligent Generalized Predictive Controller IGPC is used to control the ROV. The IGPC is designed with fault-tolerant ability. In consequence of the used fault accommodation technique, the proposed cyber-attacks detector is able to clearly detect the presence of attacker control signal and to distinguish between the effects of the attacker signal and fault on the plant side. The test result of the suggested method demonstrates that it can be considerably used for detection of the cyber-attack.

This paper combines FMEA and n2 approaches in order to create a methodology to determine risks associated with the components of an underwater system. This methodology is based on defining the risk level related to each one of the components and interfaces that belong to a complex underwater system. As far as the authors know, this approach has not been reported before. The resulting information from the mentioned procedures is combined to find the system's critical elements and interfaces that are most affected by each failure mode. Finally, a calculation is performed to determine the severity level of each failure mode based on the system's critical elements.