22/08/31Abstract
Ukuqonda indawo yasolwandle kubalulekile emikhankasweni ehlukahlukene engaphansi kwamanzi, njengokutholwa kwezinsiza kanye nokuhlolwa kwesakhiwo esingaphansi kwamanzi. Le misebenzi ayikwazi ukwenziwa ngaphandle kokungenelela kwezimoto ezizimele ngaphansi kwamanzi (AUVs). Ukusetshenziswa kwezimoto ezizimele ngaphansi kwamanzi (AUVs), ukuze zenze umsebenzi wokuhlola ngaphansi kwamanzi, kunqunyelwe
ngenxa yokunganele kwebhethri elingaphakathi kanye nomthamo wokugcina idatha. Ukuze kunqotshwe le nkinga, iziteshi zedokodo ezingaphansi kwamanzi zisetshenziselwa ukunikeza indawo yokushaja ngaphansi kwamanzi nokudluliswa kwedatha yama-AUV. Lezi ziteshi zokumaketha zenzelwe ukufakwa endaweni eguquguqukayo yolwandle, lapho ukuguguleka nezimo zokukhanya okuphansi kuyizinselelo ezibalulekile zokuvimbela ulwandle.
ukusebenza kwe-docking ngempumelelo. Ama-algorithms esiqondiso sombono asekelwe kumaka asebenzayo noma angenzi lutho ngokuvamile asetshenziselwa ukuqondisa ngokunembile i-AUV ngasesiteshini sokudokha. Kuleli phepha, siphakamisa indlela yokuqondisa esekelwe embonweni, kusetshenziswa ukutholwa kokukhiya, ukuze kuncishiswe umthelela we-turbidity, kanye nokwenqaba imithombo yokukhanya engadingeki noma izibani ezinomsindo, ngesikhathi esisodwa. Indlela yokuthola ukukhiya ikhiya imvamisa ecwayizayo yamabhakhoni okukhanya atholakala endaweni yokungena
isiteshi futhi iqede ngempumelelo umphumela wokukhanya okungafuneki kwamanye amafrikhwensi. Indlela ehlongozwayo isebenzisa amabhakhoni amabili okukhanya, aphuma ngefrikhwensi engashintshi, afakwe esiteshini esifanisiwe sokumisa kanye nekhamera eyodwa ye-sCMOS. Ukuhlola komqondo wobufakazi kuyenziwa ukuze kuboniswe ubuqiniso bendlela ehlongozwayo. Imiphumela etholiwe ibonisa ukuthi indlela yethu iyakwazi ukubona amabhakhoni okukhanya kumazinga ahlukene emfucumfucu, futhi ingakwazi ukwenqaba ngokuphumelelayo okungafunwa.
ukukhanya ngaphandle kokusebenzisa ukucutshungulwa kwesithombe okuhlukile kwalesi sinyathelo se-algorithm yesiqondiso esisekelwe embonweni. Ukusebenza kwendlela ehlongozwayo kuqinisekiswa ngokubala izinga leqiniso elihle lendlela yokuthola ezingeni ngalinye le-turbidity.
Fig. Isimiso sokutholwa kokukhiya.
Fig. a) Uhlaka lwekhamera eluhlaza luthwetshulwe emanzini acwebile ngamabhakhoni okukhanya asebenzayo, alungiswe ku-63 Hz, afakwe esiteshini esifanisiwe sokudokha phakathi nendawo, kanye nemithombo yokukhanya emibili engemuva ephuma ku-55 Hz no-0 Hz. b) Umphumela owenziwe kanambambili ngemva kokutholwa kokukhiya usetshenziswa ku-63 Hz. c) Umphumela owenziwe kanambambili ngemva kokutholwa kokukhiya usetshenziswa ku-55 Hz.
Ukuhlaziywa kobuchwepheshe bezithombe
Ukuzulazula okusekelwe ku-Vsion kusizwa izinzwa zamehlo, ezitholakala zisebenza kangcono kunezinye mayelana nokuma okunembayo okuphezulu, ukuba sengozini okuphansi kokutholwa kwangaphandle, namandla emisebenzi eminingi, kodwa kuhlushwa ukuncishiswa nokuhlakazeka kokukhanya endaweni engaphansi kwamanzi.
Ngaphezu kwalokho, imfucumfucu, ebangelwa udaka olupheshulwa i-AUV ekujuleni kolwandle, ingenza ukusetshenziswa kwezindlela ezisekelwe embonweni kube inselele nakakhulu. II-Dhyana 400BSIikhamera inikeza ukuguquguquka okudingekayo kokuhlolwa, ngesivinini esiphezulu kanye nesilinganiso esiphezulu sesignali-kuya-nomsindo, ekwazi ukukhipha amasignali abuthakathaka emsindweni, nokusebenzisana nesofthiwe ukuze kutholwe isikhathi sokukhiya kuchungechunge lwesikhathi sesithombe.
Umthombo wesithenjwa
Amjad RT, Mane M, Amjad AA, et al. Ukulandelelwa kwamabhakhoni akhanyayo emanzini axube kakhulu futhi kufakwe endaweni yokungena ngaphansi kwamanzi[C]//I-Ocean Sensing ne-Monitoring XIV. I-SPIE, 2022, 12118: 90-97.
