Abstract: A trailer tow connector including: at least one set of terminals for coupling to corresponding terminals of a trailer connector; a cover having a closed position for covering the terminals and an open position for providing access to the terminals for connecting corresponding terminals of the trailer connector thereto; a magnet coupled to the cover; and a magnetic field sensor, the magnetic field sensor being configured to provide a first output when the cover is in the closed position and a second output different from the first output when the cover is in an open position.

Abstract: A processor of a sonar system extracts a signal in a predetermined time range from a signal received by an acoustic array, calculates a correlation value for a signal waveform extracted, detects a peak value of the correlation value, calculates an integrated value by performing time-integration of a square of the correlation value, obtains a target velocity based on the peak value and the integrated value, and displays the target velocity on a display apparatus.

Abstract: A trailer tow connector including: at least one set of terminals for coupling to corresponding terminals of a trailer connector; a cover having a closed position for covering the terminals and an open position for providing access to the terminals for connecting corresponding terminals of the trailer connector thereto; a magnet coupled to the cover; and a magnetic field sensor, the magnetic field sensor being configured to provide a first output when the cover is in the closed position and a second output different from the first output when the cover is in an open position.

Abstract: According to various embodiments, a system for acoustic to electronic transduction is disclosed. The system includes a transducing medium configured to convert a received acoustic signal into a transduced electronic signal when a voltage is applied. The system further includes a high-pass filter coupled to the transducing medium, the high-pass filter configured to isolate the transduced signal from the applied voltage.

Abstract: Various implementations directed to alert zones for a marine environment. In one implementation, a marine electronics device may include a memory having a plurality of program instructions which, when executed by the sonar signal processor, cause the processor to determine one or more alert zones for a marine environment proximate to a vessel, and to receive sonar data from a transducer array disposed on the vessel, where the sonar data corresponds to the marine environment. The memory may further have program instructions which, when executed by the sonar signal processor, cause the processor to analyze the received sonar data to determine a depth line, where the depth line is a representation of one or more depths of an underwater floor of the marine environment, and to provide one or more alerts if at least a portion of the depth line is positioned within the one or more alert zones.

Abstract: A sensor management device includes first circuitry and second circuitry. The first circuitry is configured to output an instruction to position a target obstacle on a detectable region of at least one obstacle sensor provided on a work vehicle to detect an obstacle. The second circuitry is configured to determine, based on an output of the at least one obstacle sensor with respect to the target obstacle, whether the at least one obstacle sensor works normally.

Abstract: Many different types of systems are utilized and tasks are performed in a marine environment. The present invention provides various configurations of castable devices that can be operated and/or controlled for such systems or tasks. One or more castable devices can be integrated with a transducer assembly, such as a phased array, that emits sonar beams and receives sonar returns from the underwater environment. Processing circuitry may receive the sonar returns, process the sonar returns, generate an image, and transmit the image to a display.

Abstract: An underwater positioning system for scuba divers includes a base station having an underwater transmitter and receiver for sending and receiving underwater signals. The system also includes at least one diver unit having a scuba-style mask with a plurality of receivers for detecting the transmitted base signal. A diver display is positioned within the inside facing portion of the mask for indicating the direction of the base station. The diver unit also includes a transmitter for sending an emergency SOS signal to the base station and other diver units.

Abstract: A loudspeaker placement visualizer system includes a calibrated adjustable laser beam tool that can generate a beam cone angle corresponding to the predetermined sound dispersion angle of a loudspeaker. The tool is secured parallel to the central axis of the loudspeaker and adjusted to the predetermined sound dispersion angle to show what the acoustic coverage area of the loudspeaker will be in a particular venue. The laser beam projector has a cylindrical main body with an external reference indicator and a forward section that is rotatable relative to the main body to adjust the laser beam cone angle. The forward section has a calibrated scale proximate the reference indicator to enable the user to set and to see the beam cone angle. The tool may also be used during venue survey and acoustic design to determine the required sound dispersion angle of a loudspeaker to be installed.

Abstract: A sensor controller for a sensor module includes at least one interface to obtain sensor information from the sensor module and to communicate with a sensor signal receiver. The sensor controller includes a control module to control the at least one interface. The control module is configured to obtain the sensor information from the sensor module; generate a sensor signal based on the sensor information; and transmit the sensor signal. The control module is further configured to detect a fault state of the sensor module; transmit a fault indicator if the fault state indicates a failure of at least a part of the sensor module; and receive a control signal from the sensor signal receiver based on the fault indicator. The control signal includes at least one fault handling instruction. The control module is configured to execute the at least one fault handling instruction.

Abstract: Techniques are disclosed for systems and methods to provide waypoint sharing with respect to sonar imagery for mobile structures. A waypoint sharing system includes a portable electronic device with a display, a communications module, and a logic device configured to receive a waypoint database from a sonar system user interface or a waypoint server over a wireless communication link, receive user input to adjust at least a portion of the waypoint database, and provide the adjusted waypoint database to the sonar system user interface or the waypoint server over the wireless communication link. The sonar system user interface is configured to provide a waypoint database to the portable electronic device or the waypoint server over the wireless communication ink, receive the adjusted waypoint database from the device or the server over the wireless communication link, and render at least a portion of the adjusted waypoint database on a display.

Abstract: Methods and apparatus to measure and analyze vibration signatures are disclosed. In some examples, a meter is provided comprising a waveform generator to generate a waveform based on first distance measurements of an object. In some examples, the meter includes a waveform generator to determine a first vibration characteristic of the object based on the waveform. In some examples, the meter includes a comparator to compare the first vibration characteristic to a signature vibration characteristic of the object, the signature vibration characteristic of the object indicative of normal characteristics of the object. In some examples, the meter includes a reporter to, in response to determining the first vibration characteristic does not match the signature vibration characteristic, generate an alert.

Abstract: An underwater positioning system for scuba divers includes a base station having an underwater transmitter and receiver for sending and receiving underwater signals. The system also includes at least one diver unit having a scuba-style mask with a plurality of receivers for detecting the transmitted base signal. A diver display is positioned within the inside facing portion of the mask for indicating the direction of the base station. The diver unit also includes a transmitter for sending an emergency SOS signal to the base station and other diver units.

Abstract: Underground storage caverns are used for the bulk storage of hydrocarbon liquids, such as crude oil and gases. The caverns are typically formed in salt formations by dissolving the salt and removing it with a flow of water. The cavern is accessed through a bore hole which has casing and internal tubing with an annulus between the casing and tubing. Some cavern bore holes may have casing, but no tubing. The cavern typically has hydrocarbon liquid above brine with an inert gas above the hydrocarbon liquid. In order to use the cavern, and periodically check it for physical integrity, it is necessary to test the cavern to determine if there is leakage from the cavern or the bore hole. The interface of the hydrocarbon liquid and overriding gas is moved downward by injecting gas into the annulus.

Abstract: An apparatus includes a first microphone disposed near a first seat in a car cabin, the first seat configured to seat a first occupant, a second microphone disposed near a second seat in the car cabin, the second seat configured to seat a second occupant, a processor, and a memory storing a computer program. The computer program, when executed, causes the processor to execute operations including: estimating a first mixed speech using a second signal acquired by the second microphone, the first mixed speech including a first speech that has been uttered by the second occupant and has entered the first microphone, and removing the first mixed speech from a first signal acquired by the first microphone.

Abstract: An audio processing system configured to generate, based at least in part on captured sound, an audio signal that includes a speech component corresponding to a user's speech utterance and an audio component corresponding to audio output of another device is described herein. The audio processing system is also configured to receive a reference signal that corresponds to the audio output of the other device. The reference signal may be received as ultrasonic audio output of the other device or from a remote server. The audio processing device then processes the generated audio signal to remove at least a part of the generated audio signal that corresponds to the reference signal.

Abstract: An underwater powered observation system useful for ice fishing and capable of driving down an augured hole in the ice in a particular orientation that receives propulsion directions via a miniature multi-conductor cable connected to a color monitor integral to a control unit. The submersible vehicle assembly is powered by an onboard rechargeable battery that energizes both horizontal and vertical thrusters to guide and move the vehicle assembly through the water from directions communicated by the control unit. The submersible vehicle assembly may include a laser adapted to be directed to the underside of ice so as to locate the vehicle assembly allowing the user to cut a hole using a standard commercial ice auger in the ice at or near fish. In this manner the vehicle assembly may be utilized for the underwater tasks of locating fish, observing scenery, boat and pier inspection, object recovery, and other underwater tasks.

Abstract: An operation unit calculates a position of an obstacle with respect to a vehicle using a first distance and a second distance. The first distance is a distance to the obstacle measured by a first ultrasonic sensor (ultrasonic sensor) having a first microphone (microphone) at a first timing. The second distance is a distance to the obstacle measured by a second ultrasonic sensor (ultrasonic sensor) having a second microphone (microphone) at a second timing which is later than the first timing.

Abstract: A sonar type object detection system and its implementing method are provided, whereby a physical object within a certain range can be detected after implementing by an operator. The present invention is mainly formed by a sonar application program unit, a voiceprint data base, and a mobile electronic device combined therewith. The present invention employs the principle of active sonar, in which a sonar module is used to transmit detective soundwaves and simultaneously to collect the reflective soundwaves of the detective soundwaves bouncing from physical object. Then, the reflective soundwaves are compared with the voiceprint data stored in the voiceprint data base, and the relative position of the object to be found is displayed directly on the screen of the mobile electronic device.

Abstract: Autonomous Underwater Vehicles (AUV) collect and transmit information about ice floe thickness; this is combined with SYNTHETIC APERTURE RADAR images from satellites to identify and track dangerously thick regions of ice. The overlayed data is presented graphically to allow tracking of the thick ice regions over time. This information is used to alert drilling platforms in icy ocean conditions of pending ice floe dangers.

Abstract: An integrated fish detection module/navigation module system that may provide the location of fish over a distance or time is provided herein. The location of fish can be presented on a navigation module display to provide information regarding the location of fish relative to navigational data known to the navigation module. The information may create a record of fish location over time and distance. In some configurations, the navigational data and fish detection module data of more than one watercraft may be combined and distributed. In some configurations, a marker may be automatically placed on a navigation module to indicate that fish have been detected at the location on the navigation module.

Abstract: A method for pre-determining an underwater objects GPS position using a rotatable scan sonar unit linked to a boat, magnetic compass and GPS receiver. This system determines the underwater objects GPS position using the objects distance, compass heading and a GPS receiver/sonar on a boat. This system will provide real time longitude and latitude positions of underwater objects seen with sonar at a distance from a boat, and will allow for precise autopilot navigation or fixed position fishing. The system can also be used to correct for GPS errors when using previously stored waypoints positions of an object. The computer determines an objects underwater GPS position using a sonar transducer and mounted on a 360 degree movable mechanism such as a trolling motor unit, or phased array of transducers and a compass to provide heading information and formulates the objects position based on the distance and heading of the object in relation to the boats current GPS position.

Abstract: A distance detecting device is mounted on a user's vehicle to detect a distance between the user's vehicle and a leading vehicle moving in front of the user's vehicle. The distance detecting device communicates with a processing device, which applies race based distance rules to determine whether the user's vehicle is close to or incurring a penalty based at least on the distance between the user's vehicle and the leading vehicle. An indication can be given to the user regarding an impending penalty and/or when a penalty is incurred. Similarly, the device can be read to apply a penalty. Various modifications can be made to allow for recording, display, and transmission of racing and penalty statistics, enabling and disabling recordation of penalty occurrences, tailoring the penalty determinations to a given race, and mounting the distance detecting device to a vehicle.

Abstract: Suspended or overhanging of obstructions are selectively signaled to an individual by a device that can worn by an individual. The device includes a first sensor that is oriented to selectively detect a suspended or overhanging obstruction at an elevation above the housing and a second distance sensor that is oriented to selectively detect an object at an elevation of the housing. A logic circuit within the housing is electrically connected to the first and second sensors and emits a response if the first sensor is activated, but emits no response if the first and second sensors are both activated. A signaling device electrically connected to the logic circuit is activated upon emission of a response from the logic circuit.

Abstract: An object is measured to record the relative surface coordinates. Then, a portion of the object “the front side” immersed in a fluid is imaged by directing a sonar pulse at the object and recording sonar signals reflected from the object with a sonar imaging array. Then, the recorded relative surface coordinates are iteratively fit to coordinates calculated from the sonar image. Thereafter, the coordinates of the surface of the “backside” of the object that is not observable in the sonar image are known, and a computer generated image of the backside is stitched to sonar image so that the object can be viewed from a plurality of viewpoints separated from the sonar imaging array.

Abstract: The present invention generally relates to a fish finding sonar system. Specifically, this invention relates to a sonar device pairing with a remote computing device to provide information to an angler about what is under the surface of the water. Embodiments of the present invention include a sonar device and a remote computing device configured to allow the sonar device to wirelessly communicate with the remote computing device and the remote computing device to connect to a database to register and receive information about real-time fishing hotspots.

Abstract: Method and system for monitoring a vehicle driver includes an optical imaging system that obtains images of the driver, and a processor coupled to the optical imaging system and arranged to analyze the images obtained by the optical imaging system to locate a head of the driver in the images and monitor the driver's head or a part thereof over time. The processor also determines, based on the monitoring of the driver's head or part thereof, whether the driver has lost the ability to operate the vehicle. A reactive component is affected by the processor's determination that the driver has lost the ability to operate the vehicle, and requires action by the driver to indicate regaining of the ability to operate the vehicle or exerting control over the vehicle to slow the vehicle and bring it to a stop.

Abstract: An ultrasonic wave transceiving device is provided. The device includes a transmitter for transmitting at least one kind of first detection data ultrasonic signal and a plurality of kinds of second detection data ultrasonic signals, a receiver for receiving echo signals of the first and second detection data ultrasonic signals, and first and second information generators for generating first and second information based on the echo signal of the first and second detection data ultrasonic signals, respectively. The transmitter transmits the first and second detection data ultrasonic signals which transmission period of the first detection data ultrasonic signal intervenes between transmission periods of the second detection data ultrasonic signals in time axis. The second information generator generates the second information by using the echo signals of the second detection data ultrasonic signals.

Abstract: Example methods and systems for displaying one or more indications that indicate (i) the direction of a source of sound and (ii) the intensity level of the sound are disclosed. A method may involve receiving audio data corresponding to sound detected by a wearable computing system. Further, the method may involve analyzing the audio data to determine both (i) a direction from the wearable computing system of a source of the sound and (ii) an intensity level of the sound. Still further, the method may involve causing the wearable computing system to display one or more indications that indicate (i) the direction of the source of the sound and (ii) the intensity level of the sound.

Abstract: A method and device for displaying an underwater detection image is provided, in which an ultrasonic signal having a predetermined beam width is periodically transmitted underwater, receives a signal reflected on a detection target object which moves underwater, generates information on the detection target object based on the received signal, and displays the information on a display module. The method includes periodically detecting the detection target object and a position thereof based on the received signal, coupling the same detection target objects by associating the same based on the detection target object and the position periodically detected, and associating a displacement symbol corresponding to a change in a position of the detection target object with the coupled detection target object, and displaying the displacement symbol at the detected position of the detection target object at least on a two-dimensional position coordinates displayed in the display module.

Abstract: A watercraft includes a plurality of devices, a central controller, and a display device. The central controller is programmed to execute centralized control of the devices. The display device includes a touch panel function. The display device is configured to communicate with the central controller, and to display information regarding watercraft in a Graphical User Interface (GUI) format.

Abstract: A method for pre-determining an underwater objects GPS position using a rotatable scan sonar unit linked to a boat, magnetic compass and GPS receiver. This system determines the underwater objects GPS position using the objects distance, compass heading and a GPS receiver/sonar on a boat. This system will provide real time longitude and latitude positions of underwater objects seen with sonar at a distance from a boat, and will allow for precise autopilot navigation or fixed position fishing. The system can also be used to correct for GPS errors when using previously stored waypoints positions of an object. The computer determines an objects underwater GPS position using a sonar transducer and mounted on a 360 degree movable mechanism such as a trolling motor unit, or phased array of transducers and a compass to provide heading infromation and formulates the objects position based on the distance and heading of the object in relation to the boats current GPS position.

Abstract: A device having a digital controller, a power amplifier, a sonar transducer, and a sonar receiver communicatively coupled to the digital controller. The digital controller provides a power control signal to the power amplifier, which in turn drives the sonar transducer at a level determined in real time by the digital controller to prevent excessive noise from being detected by the sonar receiver.

Abstract: A fish finder having a sonar transducer, a sonar receiver, a display unit having a single user control or no user controls. The fish finder has a digital controller within the display unit that has a predetermined set of operational parameters programmed therein. Upon activation of the control, the digital controller operates the sonar transducer and sonar receiver according to the predetermined operational parameters.

Abstract: A method for pre-determining an underwater objects GPS position using a forward scan sonar unit linked to a boat trolling motor, magnetic compass and GPS receiver. This system determines the underwater objects GPS position using the objects distance, compass heading and a GPS receiver/sonar on a boat. This system will provide real time longitude and latitude positions of underwater objects seen with sonar at a distance from a boat, and will allow for precise autopilot navigation or fixed position fishing. The system can also be used to correct for GPS errors when using previously stored waypoints positions of an object. The computer determines an objects underwater GPS position using a forward scan sonar transducer and compass mounted on a 360 degree movable mechanism such as a trolling motor unit, and formulates the objects position based on the distance and heading of the object in relation to the boats current GPS position.

Abstract: Example methods and systems for displaying one or more indications that indicate (i) the direction of a source of sound and (ii) the intensity level of the sound are disclosed. A method may involve receiving audio data corresponding to sound detected by a wearable computing system. Further, the method may involve analyzing the audio data to determine both (i) a direction from the wearable computing system of a source of the sound and (ii) an intensity level of the sound. Still further, the method may involve causing the wearable computing system to display one or more indications that indicate (i) the direction of the source of the sound and (ii) the intensity level of the sound.

Abstract: A fish locating system combines the functionality of a remote controlled miniature electric boat with an underwater sonar system. The watercraft is provided with a sonar transponder attached to an exterior deck. The sonar transponder wirelessly transmits sonar readings including bottom depth and terrain, schools of fish, underwater obstructions, water temperature, and the like, to the watercraft's wireless remote controller's display screen. The remote controller comprises a display screen that visually depicts the sonar scan in real-time. In use, a person can be on shore or on an anchored boat while performing underwater reconnaissance.

Abstract: The invention as disclosed is of a method to authenticate identify and trace sonar transmissions and echoes by embedding transparent, secure and robust digital watermarks in signal space, where the additional information incurs no cost in bandwidth. The complex short time Fourier transform is selected as the domain for embedding the digital watermark, secured by a secret key, in the time frequency representation of the signal. The watermark is designed through an iterative optimization step. This step insures that the watermarked sonar is also realizable. Selection of the time frequency region for watermarking is driven by avoidance of interference with the sonar itself, or in case of network operation, other watermarks. In addition, the selected time-frequency region remains robust to sound channel and other transmission effects. Sonar echoes are authenticated in the time-frequency plane by a correlation receiver tuned to the watermarked region using the secret key.

Abstract: Suspended or overhanging of obstructions are selectively signaled to an individual by a device that can worn by an individual. The device includes a first sensor that is oriented to selectively detect a suspended or overhanging obstruction at an elevation above the housing and a second distance sensor that is oriented to selectively detect an object at an elevation of the housing. A logic circuit within the housing is electrically connected to the first and second sensors and emits a response if the first sensor is activated, but emits no response if the first and second sensors are both activated. A signaling device electrically connected to the logic circuit is activated upon emission of a response from the logic circuit.

Abstract: This disclosure provides a fish finder, which includes a transmission module and a reception module, for outputting an ultrasonic wave underwater, receiving an echo, and outputting a reception signal corresponding to an intensity of the received echo, a control module for generating echo data corresponding to a depth based on the reception signal, a display module for displaying the echo data, and a user interface for receiving a user's operation. The control module causes the display module to display the echo data so that the echo data is displayed in two or more display screens. At least one display screen displays an area having a color different from a background color. A part of the echo data at a depth range corresponding to a height of the area is displayed in the other display screen so as to expand the echo data in a depth direction. The user interface specifies a position and a size of the area via the user's operation.

Abstract: A plotting system and method for plotting radar and/or sonar signals on a bump map, with a simulated height of each data point representing a corresponding signal strength. The plotting system may comprise a processing device for associating particular signal strengths with normal vectors. The normal vectors may be used to determine the simulated heights to be illustrated on the bump map. The plotting system may also comprise a display for graphically displaying the bump map. Furthermore, the processing device may also associate particular signal strengths with particular colors, such that both color and simulated height may illustrate the strength of the plotted signals.

Abstract: The present invention refers to a system for detecting obstacles for vehicles, comprising at least one sensor able to transmit a detection signal and to receive an echo signal reflected off at least one obstacle, means of parametric evaluation of said received echo signal which comprise means of comparison between at least two successive echo signals for the determination of a reference echo signal able to define the position of at least one fixed obstacle with respect to said at least one sensor.

Abstract: This disclosure provides a fish finder, which includes a transmission module and a reception module, for outputting an ultrasonic wave underwater, receiving an echo, and outputting a reception signal corresponding to an intensity of the received echo, a control module for generating echo data corresponding to a depth based on the reception signal, a display module for displaying the echo data, and a user interface for receiving a user's operation. The control module causes the display module to display the echo data so that the echo data is displayed in two or more display screens. At least one display screen displays an area having a color different from a background color. A part of the echo data at a depth range corresponding to a height of the area is displayed in the other display screen so as to expand the echo data in a depth direction. The user interface specifies a position and a size of the area via the user's operation.

Abstract: A method, system and computer program product for managing false alarms in a security system. A detection zone is established. An alarm event is triggered based on the detection of a tag in the detection zone using an initial alarm trigger sensitivity. The initial alarm trigger sensitivity is based on an initial set of one or more detection criteria. The set of detection criteria is modified to adjust the alarm trigger sensitivity of the security system.

Abstract: A method, system, and apparatus are provided for focused ultrasonic acoustic imaging of objects within a body of water. A plurality of echo soundings are collected, the soundings produced by an ultrasonic transmitter and detected by an ultrasonic receiver. Spatial location information of the transmitter and receiver is collected and associated with each collected echo sounding. A focused signal spatial location is selected. One or more of the collected echo soundings are selected. An echo signal from each selected echo sounding is selected. The echo signal selection is determined by a calculation of which echo signal from the selected echo sounding corresponds to a focused signal occurring at the selected focused signal spatial location. The calculation is based on the selected focused signal spatial location and on the collected spatial information associated with the selected echo sounding. The selected echo signals are combined, whereby a focused echo signal is formed.

Abstract: A device for controlling the filling of a receptacle with liquid by a drink vending machine. The device includes visual marking device for marking the liquid fill level in the receptacle, a device for emitting a signal towards the receptacle, a device for receiving an incident signal and which receives the incident signal returning from the receptacle and a controlling device configured for commanding the stoppage of filling on the basis of a variation of the incident signal. The receiving device includes a series of photoelectric receivers and at least one variable which is a displacement of a light incident signal measured by the receivers.

Abstract: The present invention refers to a system for detecting obstacles for vehicles, comprising at least one sensor able to transmit a detection signal and to receive an echo signal reflected off at least one obstacle, means of parametric evaluation of said received echo signal which comprise means of comparison between at least two successive echo signals for the determination of a reference echo signal able to define the position of at least one fixed obstacle with respect to said at least one sensor.

Abstract: A system for use with a boat to provide underwater sonar images includes a left side scan sonar transducer for transmitting left side scan sonar pulses and for receiving left side scan sonar return signals and a right side scan sonar transducer for transmitting right side scan sonar pulses and for receiving right side scan sonar return signals. The system further includes signal processing circuitry for processing the left and right side scan sonar return signals to produce side scan image data and a digital processor for providing signals to a display based upon the side scan image data to produce a display image on the display showing boat location, a water column between the boat and bottom, and an underwater image comprising at least one of a left side underwater image and a right side underwater image.

Abstract: A fishfinder is provided for identifying with high precision a single fish under the ship and for measuring the length of the fish precisely. An operator of the fishfinder is assisted to grasp the depth and the length of the fish. A fishfinder transmits an ultrasound pulse having a high carrier frequency and an ultrasound pulse having a low carrier frequency by means of a pulse transmission and reception device at predetermined time intervals. A single fish echo is determined and tracked for a plurality of transmission intervals of ultrasound pulses emitted into the water. A target strength of single fish is measured based on the signal strength of a low carrier frequency echo signal from the single fish. The length of the fish is measured based on the target strength. A fish mark is displayed on the screen of an indicator, with the size of the fish mark depending on the fish length.

Abstract: Systems and methods are provided for automatically detecting sonar contacts. The system comprises a data analyzer that integrates the raw data from a plurality of sonar detectors over a predetermined period of time, thereby providing integrated data characterizing a sonar image on a sonar display. A Hough transform module is configured to employ a Hough transform algorithm that transforms at least a portion of the integrated data to detect a substantially straight line in the sonar image.