All posts tagged chain

Sonar mosaicing of chain scenario

After the first successful tests with the ARIS sonar, the UdG team worked towards reproduction of the chain scenario of PANDORA project. A chain of 13 links and a total length of about 7 meters has been built simulating a real mooring chain.

chain scenario

Reproduction of the chain scenario at UdG’s water tank.

Before the first year review of the project, we conducted some experiments inside the UdG water tank to simulate inspection of the chain by means of sonar.

Girona-500, equipped with ARIS, was manually teleoperated along the chain gathering images at a short range to generate afterwards an acoustic mosaic of high resolution.

The following video summarizes the mosaicing process of the sonar images:

The figure below shows the obtained full chain mosaic:

chain mosaic