Journal articles on the topic 'Intervention class underwater vehicles'
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Wang, Junli, Shitong Wang, and Wenhao Leng. "Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator." Mathematical Problems in Engineering 2021 (February 22, 2021): 1–12. http://dx.doi.org/10.1155/2021/6656928.
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Work class remote operated vehicles (ROVs) are generally equipped with underwater manipulators and are widely used in underwater intervention and maintenance tasks. As the load of underwater operation is relatively heavy, most commercial underwater manipulators are hydraulically actuated and are not equipped with any sensor for joint angles to keep their architectures compact. Therefore, the automatic control methods widely used in industrial robots cannot be simply applied to underwater manipulators. In this paper, an estimation method on joint angles of manipulator is presented, in which several markers are arranged on the arm links and positioned from the corresponding cameras; consequently, the joint angles of the manipulator are estimated. The simulation results show that under typical optical vision positioning error (RMS: 5 mm), the positioning error of the end effector can be estimated as about 10 mm (RMS), which means that the proposed estimation method is feasible for the state estimation for automatic control of underwater manipulators.
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Vallicrosa, Guillem, Khadidja Himri, Pere Ridao, and Nuno Gracias. "Semantic Mapping for Autonomous Subsea Intervention." Sensors 21, no. 20 (October 11, 2021): 6740. http://dx.doi.org/10.3390/s21206740.
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This paper presents a method to build a semantic map to assist an underwater vehicle-manipulator system in performing intervention tasks autonomously in a submerged man-made pipe structure. The method is based on the integration of feature-based simultaneous localization and mapping (SLAM) and 3D object recognition using a database of a priori known objects. The robot uses Doppler velocity log (DVL), pressure, and attitude and heading reference system (AHRS) sensors for navigation and is equipped with a laser scanner providing non-coloured 3D point clouds of the inspected structure in real time. The object recognition module recognises the pipes and objects within the scan and passes them to the SLAM, which adds them to the map if not yet observed. Otherwise, it uses them to correct the map and the robot navigation if they were already mapped. The SLAM provides a consistent map and a drift-less navigation. Moreover, it provides a global identifier for every observed object instance and its pipe connectivity. This information is fed back to the object recognition module, where it is used to estimate the object classes using Bayesian techniques over the set of those object classes which are compatible in terms of pipe connectivity. This allows fusing of all the already available object observations to improve recognition. The outcome of the process is a semantic map made of pipes connected through valves, elbows and tees conforming to the real structure. Knowing the class and the position of objects will enable high-level manipulation commands in the near future.
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Davies, Peter, and Danny Constantinis. "Innovative inspection techniques for ultra deepwater drillships and other floating O&G production assets saving costs, enhancing safety, while assuring operational availability and asset integrity." APPEA Journal 57, no. 2 (2017): 599. http://dx.doi.org/10.1071/aj16012.
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The Hull Inspection Techniques and Strategy (HITS) Joint Industry Project (JIP), a subgroup of the Floating Production Storage and Offloading (FPSO) Research Forum, called for new methods to be developed that enhance safety, reduce costs and support the assurance of integrated asset management. Hull integrity is critical to enhancing safety and operational effectiveness for production operations, particularly for high-value assets. Good hull integrity requires accurate, relevant hull-inspection data of the internal structure, isolation valves, moonpools, external appendages and positioning systems. Current methods use divers or remotely operated vehicles (ROVs); this often disrupts drilling operations and, in the case of divers, is a high but managed risk. HITS JIP called for methods to minimise diver and man intervention in confined spaces. This has now been achieved on several assets while on station, operational and on-hire by an innovative method of conducting inspections from within the hull and using advanced techniques to inspect critical isolation valves, moonpool high-stress areas, thrusters and hull appendages. Aligning internal and external structural inspections optimises operational availability further and is achieved by means of class-approved ‘long-term inspection plans’ that align the ‘underwater’ scope with other hull inspections and spreads the work over several 5-year cycles. As well as safety enhancements, benefits include over 70% persons on board (POB) reduction on diver under water inspection in lieu of drydocking (UWILD) operations, minimising downtime and operational impact, and high-value inspection data. Further advances in hull inspection have also been proven that eliminate man entry of confined spaces for inspection of ballast and other tanks.
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Petillot, Yvan R., Gianluca Antonelli, Giuseppe Casalino, and Fausto Ferreira. "Underwater Robots: From Remotely Operated Vehicles to Intervention-Autonomous Underwater Vehicles." IEEE Robotics & Automation Magazine 26, no. 2 (June 2019): 94–101. http://dx.doi.org/10.1109/mra.2019.2908063.
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Curtin, Thomas B., Denise M. Crimmins, Joseph Curcio, Michael Benjamin, and Christopher Roper. "Autonomous Underwater Vehicles: Trends and Transformations." Marine Technology Society Journal 39, no. 3 (September 1, 2005): 65–75. http://dx.doi.org/10.4031/002533205787442521.
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Three examples of inter-agency cooperation utilizing current generation, individual Autonomous Underwater Vehicles (AUVs) are described consistent with recent recommendations of the U.S. Commission on Ocean Policy. The first steps in transforming individual AUVs into adaptive, networked systems are underway. To realize an affordable and deployable system, a network-class AUV must be designed with cost–size constraints not necessarily applied in developing solo AUVs. Vehicle types are suggested based on function and ocean operating regime: surface layer, interior and bottom layer. Implications for platform, navigation and control subsystems are explored and practical formulations for autonomy and intelligence are postulated for comparing performance and judging behavior. Laws and conventions governing intelligent maritime navigation are reviewed and an autonomous controller with conventional collision avoidance behavior is described. Network-class cost constraints can be achieved through economies of scale. Productivity and efficiency in AUV manufacturing will increase if constructive competition is maintained. Constructive strategies include interface and operating standards. Professional societies and industry trade groups have a leadership role to play in establishing public, open standards.
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Rogulsky, Oleg E., and Svyatoslav A. Faly. "Launcher for storage and launch of underwater vehicles on ice-class ships." Transactions of the Krylov State Research Centre 4, no. 394 (November 24, 2020): 99–108. http://dx.doi.org/10.24937/2542-2324-2020-4-394-99-108.
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Object and purpose of research. The object of the research is a launcher for storage and launch of underwater vehicles by ice-class ships in ice conditions. The purpose of the research is to develop a ship system for the underwater vehicles operation in ice.
Materials and methods. This paper analyses underwater vehicle operations from ice-class ships in ice conditions and concludes that in ice conditions these vehicles are impossible to launch from the moving mothership. The study followed common methods of analysis, analogy and modeling.
Main results. The design of a promising universal shipborne vertical submarine launcher for storage and launching of underwater vehicles, as well as the method of its accommodation aboard the ship, is described. Proposals for the components and accommodation of the launcher aboard an ice-class ship have been worked out. The main hydrodynamic problems associated with the vertical downward launching processes are considered.
Conclusion. The results of the research can further used to work out a concept for a shipborne vertical submarine launcher for storing and launching UV and its placement on advanced ice-class ship.
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Herman, Przemyslaw. "A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles." Applied Sciences 12, no. 17 (September 5, 2022): 8903. http://dx.doi.org/10.3390/app12178903.
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This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and is suitable for symmetric vehicles. It is shown that such systems can be diagonalized using inertial quasi-velocities (IQVs). The strategy consists of the velocity controller and two adaptive integral sliding mode control algorithms. The proposed approach, introducing velocity transformation and using backstepping methods and integral sliding mode control, allows trajectory tracking for vehicles in described models with symmetric inertia matrix. Proof of the stability of the closed system was carried out using IQV. The proposed scheme has been verified on two 3 DOF models of underwater vehicles with thruster limitations. A brief discussion of the results is also given.
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Herman, P., and W. Adamski. "Non-adaptive velocity tracking controller for a class of vehicles." Bulletin of the Polish Academy of Sciences Technical Sciences 65, no. 4 (August 1, 2017): 459–68. http://dx.doi.org/10.1515/bpasts-2017-0051.
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AbstractA non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.
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Kabanov, Aleksey, Vadim Kramar, and Igor Ermakov. "Design and Modeling of an Experimental ROV with Six Degrees of Freedom." Drones 5, no. 4 (October 8, 2021): 113. http://dx.doi.org/10.3390/drones5040113.
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With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.
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Kohnen, William. "MTS Manned Underwater Vehicles 2017‐2018 Global Industry Overview." Marine Technology Society Journal 52, no. 5 (September 1, 2018): 125–51. http://dx.doi.org/10.4031/mtsj.52.5.9.
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AbstractThe manned underwater vehicle industry continues to build momentum into 2018; much of this has been driven by strong market trends and technology. There is renewed growth in the luxury yachting industry, in citizen science, and in ocean philanthropy. Tourism submersibles offer high-end touring expeditions for boutique destinations and specialty cruise ships. In Asia, notably China, Japan, and India, deep-ocean science is gathering attention for research and commercial applications. The industry also benefits from an accepted use of lithium batteries by class societies and strong developments in the areas of navigation and communication technology. Finally, although military development typically focuses on unmanned capabilities, there is more investment in deep submergence submarine rescue vessels.
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Eleftherakis, Dimitrios, and Raul Vicen-Bueno. "Sensors to Increase the Security of Underwater Communication Cables: A Review of Underwater Monitoring Sensors." Sensors 20, no. 3 (January 29, 2020): 737. http://dx.doi.org/10.3390/s20030737.
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Underwater communication cables transport large amounts of sensitive information between countries. This fact converts these cables into a critical infrastructure that must be protected. Monitoring the underwater cable environment is rare and any intervention is usually driven by cable faults. In the last few years, several reports raised issues about possible future malicious attacks on such cables. The main objective of this operational research and analysis (ORA) paper is to present an overview of different commercial and already available marine sensor technologies (acoustic, optic, magnetic and oceanographic) that could be used for autonomous monitoring of the underwater cable environment. These sensors could be mounted on different autonomous platforms, such as unmanned surface vehicles (USVs) or autonomous underwater vehicles (AUVs). This paper analyses a multi-threat sabotage scenario where surveying a transatlantic cable of 13,000 km, (reaching water depths up to 4000 m) is necessary. The potential underwater threats identified for such a scenario are: divers, anchors, fishing trawls, submarines, remotely operated vehicles (ROVs) and AUVs. The paper discusses the capabilities of the identified sensors to detect such identified threats for the scenario under study. It also presents ideas on the construction of periodic and permanent surveillance networks. Research study and results are focused on providing useful information to decision-makers in charge of designing surveillance capabilities to secure underwater communication cables.
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Ruzzene, Massimo, and Francesco Soranna. "Impact Dynamics of Elastic Stiffened Supercavitating Underwater Vehicles." Journal of Vibration and Control 10, no. 2 (February 2004): 243–67. http://dx.doi.org/10.1177/1077546304035607.
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The dynamic behavior of and the vibration in supercavitating underwater vehicles are here investigated and controlled. Supercavitating vehicles exploit supercavitation as a means to reduce drag and increase their underwater speed. The forces acting on supercavitating vehicles are completely different from those on conventional submerged bodies, since only a tiny percentage of their external surface area is wetted and water-vapor forces are almost negligible. The hydrodynamic stability of supercavitating bodies is achieved through after-body planing, or surfing, along the internal surface of the cavity, or through periodic impacts, or 'tail-slaps', with the interior surface of the cavity. The interactions between the vehicle and the water/cavity interface are sources of structural strains and vibrations, which undermine the structural reliability of the vehicle and affect its guidance. The dynamic behavior of supercavitating vehicles is here analyzed. The vehicles are modeled as slender elastic beams in order to predict their dynamic response under 'tail-slap' conditions both in terms of rigid body motion as well as dynamic strains and vibrations. The developed numerical model predicts the response of the considered class of supercavitating vehicles and it is used to estimate the effect of periodically placed stiffening rings on the amplitude of the vibrations induced by the tail-slap impacts. The analysis is motivated by the need to accurately model the structural characteristics of supercavitating vehicles in order to estimate the vibration transmission paths along the structure and to envision and design systems that improve their guidance and control efficiency. The models here presented will be included in a simulation-based design procedure for supercavitating vehicles, where optimal design configurations will be identified through a multidisciplinary design optimization (MDO) approach. The MDO process will consider structural performance trade-offs in order to determine configurations that simultaneously provide minimum vibrations and maximum structural reliability, with minimum added weight and costs.
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Hożyń, Stanisław, and Bogdan Żak. "Stereo Vision System for Vision-Based Control of Inspection-Class ROVs." Remote Sensing 13, no. 24 (December 14, 2021): 5075. http://dx.doi.org/10.3390/rs13245075.
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The inspection-class Remotely Operated Vehicles (ROVs) are crucial in underwater inspections. Their prime function is to allow the replacing of humans during risky subaquatic operations. These vehicles gather videos from underwater scenes that are sent online to a human operator who provides control. Furthermore, these videos are used for analysis. This demands an RGB camera operating at a close distance to the observed objects. Thus, to obtain a detailed depiction, the vehicle should move with a constant speed and a measured distance from the bottom. As very few inspection-class ROVs possess navigation systems that facilitate these requirements, this study had the objective of designing a vision-based control method to compensate for this limitation. To this end, a stereo vision system and image-feature matching and tracking techniques were employed. As these tasks are challenging in the underwater environment, we carried out analyses aimed at finding fast and reliable image-processing techniques. The analyses, through a sequence of experiments designed to test effectiveness, were carried out in a swimming pool using a VideoRay Pro 4 vehicle. The results indicate that the method under consideration enables automatic control of the vehicle, given that the image features are present in stereo-pair images as well as in consecutive frames captured by the left camera.
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Santos, Aristide S., Daniel Simon, and Vincent Rigaud. "Sensor-Based Control of A Class of Under-Actuated Autonomous Underwater Vehicles." IFAC Proceedings Volumes 28, no. 2 (May 1995): 107–14. http://dx.doi.org/10.1016/s1474-6670(17)51659-6.
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Saveliev, Anton I., Konstantin D. Krestovnikov, and Aleksei A. Erashov. "Analysis of approaches to functioning of an autonomous unmanned vehicle and a surface ship in joint missions." Analysis and data processing systems, no. 4 (December 27, 2022): 49–62. http://dx.doi.org/10.17212/2782-2001-2022-4-49-62.
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Autonomous unmanned vehicles can successfully solve a variety of civil, scientific and military tasks. Robotic complexes of this class demonstrate their high efficiency when performing seismic surveys, hydrochemical monitoring of water areas and inspection of technical facilities of various purposes. Vehicles powered by a rechargeable battery, as a rule, have a very limited power reserve, and require periodic replenishment of the battery charge. The physical properties of the operating environment impose significant limitations on the communication methods used, which complicates the transfer of information between the operator and an autonomous unmanned submersible. Delivery of the vehicle to the mission site, as well as providing power to the vehicle and information exchange with the operator require some additional infrastructure. This paper focuses on finding and selecting solutions for transportation, power and communications support for autonomous underwater vehicles. The constructional solutions of underwater docks and general principles of building systems for ensuring the operation of this type of vehicles are considered, and a classification of approaches to the energy supply of underwater vehicles is made. Based on the analysis the most perspective solutions ensuring long-term autonomous operation were selected. Docking stations with the ability to lift and dive an underwater vehicle directly inside the station have a number of operational advantages. The use of contact methods for energy and information transfer requires high accuracy of underwater vehicle positioning and complication of its sensor system, as well as application of special methods for protection of contact pairs from environmental impacts. These disadvantages are deprived by wireless solutions, which are actively introduced at present.
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Naresh Kumar, D., and . "Securing Underwater Wireless Communication Networks." International Journal of Engineering & Technology 7, no. 2.23 (April 20, 2018): 505. http://dx.doi.org/10.14419/ijet.v7i2.23.15344.
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Underwater remote correspondence systems (UWCNs) are especially defenseless against vindictive assaults because of the high piece blunder rates, huge and variable proliferation deferrals, and low data transmission of acoustic channels. The special attributes of the Underwater acoustic correspondence channel and the contrasts between Underwater sensor systems and their ground-based partners require the improvement of productive and solid security instruments. In this class, an entire review of security for UWCNs is exhibited, and the exploration challenge for secure correspondence in this condition is sketched out.UWCNs incorporate sensors and self-ruling Underwater vehicles (AUVs) that collaborate to perform particular applications, for example, Underwater observing. Coordination and data sharing amongst sensors and AUVs make the arrangement of security testing.
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Song, Zhuoyuan, Aaron Marburg, and Dana Manalang. "Resident Subsea Robotic Systems: A Review." Marine Technology Society Journal 54, no. 5 (September 1, 2020): 21–31. http://dx.doi.org/10.4031/mtsj.54.5.4.
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AbstractRecent years have seen growing interest within the offshore technology sector in subsea vehicles designed for deployment not from a manned surface ship but autonomously from offshore infrastructure. While diverse in morphology and proposed concepts of operations, all such vehicles leverage the ability to remain resident at a site of interest to offer novel operational capabilities and reduce the reliance on manned surface ships for offshore intervention. This article considers the core design properties and motivations of resident underwater vehicles, both as expressed by the nascent commercial systems as well as the current state in academic research and noncommercial research and development (R&D). The goal is to provide a comprehensive, although nonexhaustive, review of the current resident underwater vehicle systems, core challenges in successful system deployment, and the recent development and opportunities in resident autonomy.
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Sung, Minsung, Jason Kim, Hyeonwoo Cho, Meungsuk Lee, and Son-Cheol Yu. "Underwater-Sonar-Image-Based 3D Point Cloud Reconstruction for High Data Utilization and Object Classification Using a Neural Network." Electronics 9, no. 11 (October 23, 2020): 1763. http://dx.doi.org/10.3390/electronics9111763.
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This paper proposes a sonar-based underwater object classification method for autonomous underwater vehicles (AUVs) by reconstructing an object’s three-dimensional (3D) geometry. The point cloud of underwater objects can be generated from sonar images captured while the AUV passes over the object. Then, a neural network can predict the class given the generated point cloud. By reconstructing the 3D shape of the object, the proposed method can classify the object accurately through a straightforward training process. We verified the proposed method by performing simulations and field experiments.
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Song, Bao Wei, Wen Long Tian, and Zhao Yong Mao. "Dynamic Modeling and Motion Simulation of a Movable-Winged Underwater Glider." Advanced Materials Research 490-495 (March 2012): 1326–31. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.1326.
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Underwater gliders are a class of Autonomous Underwater Vehicles (AUVs) that offer many advantages over traditional AUVs. Previous research has mainly focused on underwater gliders with fixed wings. This paper studied a novel underwater glider whose wings can pitch independently about its installed shaft, called Movable-Winged Underwater Glider (MWUG). A 6-DOF model of dynamics for MWUG was developed based on Newton’s law and Euler’s equation, gravity, buoyancy, added mass forces and hydrodynamic forces considered. Longitudinal motion simulations were conducted to clarify the motion characteristics of MWUG. Results of the simulations indicated that compared to fix-winged gliders, MWUGs show a smaller glide angle and attack angle, higher glide speed and efficiency
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Kumar, Dr A. Dinesh. "Underwater Gripper using Distributed Network and Adaptive Control." Journal of Electrical Engineering and Automation 2, no. 1 (March 25, 2020): 43–49. http://dx.doi.org/10.36548/jeea.2020.1.005.
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Underwater identification and grasping of objects is a major challenge faced by the marine engineers even today. Nowadays, almost all underwater operations are either autonomous or tele-operated. In fact remotely operated vehicles (ROVs) are used to deal with inspection tasks and industrial maintenance whenever there is need for intervention. However, the field of autonomous underwater vehicle (AUV) is a blooming filed with research involving proper moving base control and forces interacting which leads to complicated configuration. Hence the presented work is focused implementation of end-effector with appropriate control and signal processing resulting in autonomous manipulation of movement under water.
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Gorma, Wael, Mark A. Post, James White, James Gardner, Yang Luo, Jongrae Kim, Paul D. Mitchell, Nils Morozs, Marvin Wright, and Qing Xiao. "Development of Modular Bio-Inspired Autonomous Underwater Vehicle for Close Subsea Asset Inspection." Applied Sciences 11, no. 12 (June 10, 2021): 5401. http://dx.doi.org/10.3390/app11125401.
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To reduce human risk and maintenance costs, Autonomous Underwater Vehicles (AUVs) are involved in subsea inspections and measurements for a wide range of marine industries such as offshore wind farms and other underwater infrastructure. Most of these inspections may require levels of manoeuvrability similar to what can be achieved by tethered vehicles, called Remotely Operated Vehicles (ROVs). To extend AUV intervention time and perform closer inspection in constrained spaces, AUVs need to be more efficient and flexible by being able to undulate around physical constraints. A biomimetic fish-like AUV known as RoboFish has been designed to mimic propulsion techniques observed in nature to provide high thrust efficiency and agility to navigate its way autonomously around complex underwater structures. Building upon advances in acoustic communications, computer vision, electronics and autonomy technologies, RoboFish aims to provide a solution to such critical inspections. This paper introduces the first RoboFish prototype that comprises cost-effective 3D printed modules joined together with innovative magnetic coupling joints and a modular software framework. Initial testing shows that the preliminary working prototype is functional in terms of water-tightness, propulsion, body control and communication using acoustics, with visual localisation and mapping capability.
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Horgan, Jonathan, James Riordan, and Daniel Toal. "Experimental Setups for Vision-Based Navigation of Unmanned Underwater Vehicles in Near Intervention Operations." IFAC Proceedings Volumes 41, no. 1 (2008): 149–54. http://dx.doi.org/10.3182/20080408-3-ie-4914.00027.
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Vedachalam, Narayanaswamy, Raju Ramesh, Vandavasi Bala Naga Jyothi, Vittal Doss Prakash, Gidugu Ananda Ramadass, and Malayath Aravindakshan Atmanand. "Design Considerations for Strategic Autonomous Underwater Swarm Robotic Systems." Marine Technology Society Journal 54, no. 2 (March 1, 2020): 25–34. http://dx.doi.org/10.4031/mtsj.54.2.6.
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AbstractAutonomous underwater swarm robotic systems (AU-SRS) are vital for exploration of the vast marine resources, spatio-temporal monitoring of the oceans for understanding the changing climate patterns, marine pollution monitoring, defense, and identification of assets lost in the oceans. The paper summarizes the technological developments in the autonomous underwater vehicles hitherto and discusses the design requirements for next-generation intelligent AU-SRS including intra-vehicle intelligence, inter-vehicle communication, intervention capability, swarm algorithms, and bio-inspired designs. The importance of quality-centered system engineering is also detailed.
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Topini, Edoardo, Marco Pagliai, and Benedetto Allotta. "Dynamic Maneuverability Analysis: A Preliminary Application on an Autonomous Underwater Reconfigurable Vehicle." Applied Sciences 11, no. 10 (May 14, 2021): 4469. http://dx.doi.org/10.3390/app11104469.
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Since the development of the first autonomous underwater vehicles, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations, in addition to surveys. As a result, the development of autonomous underwater reconfigurable vehicles (AURVs) with the capability of interacting with the surrounding environment and autonomously changing the configuration, according to the task at hand, can represent a real breakthrough in underwater system technologies. Driven by these considerations, an innovative AURV has been designed by the Department of Industrial Engineering of the University of Florence (named as UNIFI DIEF AURV), capable of efficiently reconfiguring its shape according to the task at hand. In particular, the UNIFI DIEF AURV has been provided with two extreme configurations: a slender (“survey”) configuration for long navigation tasks, and a stocky (“hovering”) configuration designed for challenging goals as intervention operations. In order to observe the several dynamic features for the two different configurations, a novel formulation for the dynamic maneuverability analysis (DMA) of an AURV, adapting Yoshikawa’s well-known manipulability theory for robotic arms, is proposed in this work. More specifically, we introduce a novel analysis which relates the vehicle body-fixed accelerations with the rotational speed of each thruster, taking into account also the AURV dynamic model for each configuration and the propulsion system.
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Szymak, Piotr, Paweł Piskur, and Krzysztof Naus. "The Effectiveness of Using a Pretrained Deep Learning Neural Networks for Object Classification in Underwater Video." Remote Sensing 12, no. 18 (September 16, 2020): 3020. http://dx.doi.org/10.3390/rs12183020.
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Video image processing and object classification using a Deep Learning Neural Network (DLNN) can significantly increase the autonomy of underwater vehicles. This paper describes the results of a project focused on using DLNN for Object Classification in Underwater Video (OCUV) implemented in a Biomimetic Underwater Vehicle (BUV). The BUV is intended to be used to detect underwater mines, explore shipwrecks or observe the process of corrosion of munitions abandoned on the seabed after World War II. Here, the pretrained DLNNs were used for classification of the following type of objects: fishes, underwater vehicles, divers and obstacles. The results of our research enabled us to estimate the effectiveness of using pretrained DLNNs for classification of different objects under the complex Baltic Sea environment. The Genetic Algorithm (GA) was used to establish tuning parameters of the DLNNs. Three different training methods were compared for AlexNet, then one training method was chosen for fifteen networks and the tests were provided with the description of the final results. The DLNNs were trained on servers with six medium class Graphics Processing Units (GPUs). Finally, the trained DLNN was implemented in the Nvidia JetsonTX2 platform installed on board of the BUV, and one of the network was verified in a real environment.
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Kapetanović, Nadir, Antonio Vasilijević, Đula Nađ, Krunoslav Zubčić, and Nikola Mišković. "Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep." Remote Sensing 12, no. 23 (November 28, 2020): 3902. http://dx.doi.org/10.3390/rs12233902.
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Underwater cultural heritage sites are subject to constant change, whether due to natural forces such as sediments, waves, currents or human intervention. Until a few decades ago, the documentation and research of these sites was mostly done manually by diving archaeologists. This paper presents the results of the integration of remote sensing technologies with autonomous marine vehicles in order to make the task of site documentation even faster, more accurate, more efficient and more precisely georeferenced. It includes the integration of multibeam sonar, side scan sonar and various cameras into autonomous surface and underwater vehicles, remotely operated vehicle and unmanned aerial vehicle. In total, case studies for nine underwater cultural heritage sites around the Mediterranean region are presented. Each case study contains a brief archaeological background of the site, the methodology of using autonomous marine vehicles and sensors for their documentation, and the results in the form of georeferenced side-scan sonar mosaics, bathymetric models or reconstructed photogrammetric models. It is important to mention that this was the first time that any of the selected sites were documented with sonar technologies or autonomous marine vehicles. The main objective of these surveys was to document and assess the current state of the sites and to establish a basis on which future monitoring operations could be built and compared. Beyond the mere documentation and physical preservation, examples of the use of these results for the digital preservation of the sites in augmented and virtual reality are presented.
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Incze, Michael Laszlo. "Low-Cost, Man-Portable Autonomous Underwater Vehicles for Rapid Environmental Assessment." Marine Technology Society Journal 42, no. 4 (December 1, 2008): 4–11. http://dx.doi.org/10.4031/002533208787157714.
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The requirements to rapidly characterize environmental conditions in dynamic near-shore waters have greatly outpaced the developing inventory of traditional resources to conduct this sampling. Research vessels, remote sensors, and networked in situ sensing platforms (fixed and drifting) are often limited in availability, capability, and/or adaptability, with the result that surveys can not be rapidly conducted in areas of immediate concern to communities, industry, and military defense. Autonomous underwater vehicles (AUVs) have been evolving over the past decade, with the ability to provide rapid environmental assessment as one of the primary objectives. However, the trade-off of cost and capability limited early designs and prohibited broad and effective utilization of these platforms for environmental data-collection missions. AUVs capable of sustained performance for sampling dynamic parameters in areas of high spatial and temporal variability were too costly, both in terms of procurement and operation, and lower cost AUVs did not have sufficient performance for operating in these challenging near-shore conditions. The development of low-cost, lightweight vehicles for these missions has only recently occurred, enabling responsive, multi-platform surveys to capture synoptic characterizations of near-shore waters with sufficient resolution to support data-centric 3-D models and provide baseline data sets for development and validation of physics-based forecasting models. Recent survey operations with one candidate class of AUVs developed by OceanServer Technology, Inc. reveal the hardware/software status of state-of-the-art designs and provide a basis for developing survey strategies essential to effective mission planning.
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Furferi, Rocco, Roberto Conti, Enrico Meli, and Alessandro Ridolfi. "Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks." International Journal of Advanced Robotic Systems 13, no. 6 (November 28, 2016): 172988141665793. http://dx.doi.org/10.1177/1729881416657931.
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An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.
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Krieg, Michael, Peter Klein, Robert Hodgkinson, and Kamran Mohseni. "A Hybrid Class Underwater Vehicle: Bioinspired Propulsion, Embedded System, and Acoustic Communication and Localization System." Marine Technology Society Journal 45, no. 4 (July 1, 2011): 153–64. http://dx.doi.org/10.4031/mtsj.45.4.11.
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AbstractInspired by the natural locomotion of jellyfish and squid, a series of compact thrusters series is developed for propulsion and maneuvering of underwater vehicles. These thrusters successively ingest and expel jets of water in a controlled manner at high frequencies to generate propulsive forces. The parameters controlling the performance of the thrusters are reviewed and investigated to achieve higher thrust levels. The thrusters are compact and can be placed completely inside a vehicle hull providing the desired maneuvering capability without sacrificing a sleek hydrodynamic shape for efficient cruising. The system design of a prototype hybrid vehicle, called CephaloBot, utilizing these thrusters, is also presented. A compact and custom-developed embedded system is also designed for the CephaloBot. Key features of the system include a base set of navigational sensors, an acoustic system for localization and underwater communication, Xbee RF transceiver for communication above water, and a LabVIEW programmed processing board.
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Kohnen, William. "2007 MTS Overview of Manned Underwater Vehicle Activity." Marine Technology Society Journal 42, no. 1 (March 1, 2008): 26–37. http://dx.doi.org/10.4031/002533208786861236.
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There are approximately 100 active manned submersibles in operation around the world; in this overview we refer to all non-military manned underwater vehicles that are used for scientific, research, tourism, and commercial diving applications, as well as personal leisure craft. The Marine Technology Society committee on Manned Underwater Vehicles (MUV) maintains the only comprehensive database of active submersibles operating around the world and endeavors to continually bring together the international community of manned submersible operators, manufacturers and industry professionals. The database is maintained through contact with manufacturers, operators and owners through the Manned Submersible program held yearly at the Underwater Intervention conference.The most comprehensive and detailed overview of this industry is given during the UI conference, and this article cannot cover all developments within the allocated space; therefore our focus is on a compendium of activity provided from the most dynamic submersible builders, operators and research organizations that contribute to the industry and who share their latest information through the MTS committee. This article presents a short overview of submersible activity in 2007, including new submersible construction, operation and regulatory activity of research, tourism, commercial diving and recreational applications. The scope of this article is limited to active atmospheric submersibles, and does not include historical, ambient pressure, or laid-up submersibles, which would be an entire article on its own. For a complete overview that includes submersibles not covered in this article, readers are invited to peruse the MTS Manned Underwater Vehicle online database at the committee's website (www.mtsmuv.org).
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YALÇINKAYA, Senai, and Kenan KOÇYİĞİT. "PROTECTION OF ALUMINUM 6061 USED IN WATER VEHICLES FROM FLOUR FROM SALT CORROSION BY COATING." INTERNATIONAL REFEREED JOURNAL OF ENGINEERING AND SCIENCES, no. 15 (2021): 0. http://dx.doi.org/10.17366/uhmfd.2021.15.2.
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Aim: Every country in the world develops defense strategies in order to protect their borders and to be cautious against attacks from outside, according to their geographical locations. They use underwater and surface vehicles to meet the defense needs of countries that have coasts on seas or oceans. These vehicles need to be light in order to have low fuel consumption and high mobility. Method: Aluminum and aluminum alloy materials are generally used in these vehicles in order to meet these requirements and also to have high strength. In these vehicles, which are in motion in water, corrosion and abrasions occur on the surfaces due to high pressure and friction. Coating methods are applied to minimize these corrosions and abrasions. The selection of aluminum to be applied to these coating methods and the heat treatments to be applied to aluminum materials before coating will be evaluated. In this study, by giving examples of coating types, studies will be carried out on how much the formation of corrosion on aluminum surfaces reduces or prevents. Salt fog test will be applied in order to determine the decrease in the amount of corrosion formation. Salt fog testing will be performed in accordance with the MIL-STD-810G standard. Samples will be prepared for the studies to be carried out on the aluminum 6061 alloys. These samples will be aged by T6 heat treatment. After the aging process, for anodized coating types such as type 1 class 3, type 2 class 1 type 2 class 2 type 3 class 1 type 3 class 2 from anodic anodized coating types, each sample will be in the salt cabinet for 50 hours each turn to see the difference clearly. will be subjected to the fog test. After every 50 hours, the sample will be left to dry for 50 hours. After 50 hours of drying time, these samples, which were subjected to salt fog test, will be compared with each other before the test under normal conditions and after drying after the test.Results: In this study, it has been tried to determine how the aluminum 6061 alloy, which is one of the most preferred materials for underwater and above-water vehicles, behaves against corrosion after T6 heat treatment and the coating types that should be applied in order to maximize its resistance against this corrosion. Conclusion: When the images taken from the optical microscope were compared, it was observed that the type 3 class 1 type was more durable than the other coating types.
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Wadi, Ali, Shayok Mukhopadhyay, and Jin-Hyuk Lee. "A novel disturbance-robust adaptive trajectory tracking controller for a class of underactuated autonomous underwater vehicles." Ocean Engineering 189 (October 2019): 106377. http://dx.doi.org/10.1016/j.oceaneng.2019.106377.
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Shankar, R. V. Shashank, and Rajagopalan Vijayakumar. "Numerical Study of the Effect of Wing Position on Autonomous Underwater Glider." Defence Science Journal 70, no. 2 (March 9, 2020): 214–20. http://dx.doi.org/10.14429/dsj.70.14742.
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Autonomous underwater gliders are a class of underwater vehicles that transit without the help of a conventional propeller. The vehicle uses a buoyancy engine to vary its buoyancy and with the help of the wings attached executes its motion. The hydrodynamic characteristics of the vehicle affect the longitudinal and turning motion. This paper discusses the effect of the wing’s position on the vehicle’s lift and drag characteristics. Computational fluid dynamics (CFD) tool is used to estimate the lift, drag, and pitching moment coefficients of the vehicle. The numerical methodology is validated using flow over NACA0012 wing results for low Reynolds numbers, and the results of CFD are discussed for possible application in estimation of glider motion.
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Huang, Hai, Jiyong Li, Guocheng Zhang, Qirong Tang, and Lei Wan. "Adaptive recurrent neural network motion control for observation class remotely operated vehicle manipulator system with modeling uncertainty." Advances in Mechanical Engineering 10, no. 10 (October 2018): 168781401880409. http://dx.doi.org/10.1177/1687814018804098.
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Precise motion control of remotely operated vehicles plays an important role in a great number of submarine missions. However, the high-performance operations are difficult to realize due to the uncertainty in system modeling with self-disturbance. On the basis of the multibody system dynamics, self-disturbances from the tether and manipulator have been systematically analyzed in order to transform them into observed forces. A novel S surface–based adaptive recurrent wavelet neural network control system has been proposed on the nonlinear control of underwater vehicles, with its recurrent wavelet neural network structure designed for the approximation of the uncertain dynamics. Moreover, a robust function has been proposed to improve system robustness and convergence. The comparison shows that the remotely operated vehicle operation performance including the three-dimensional path following and vehicle-manipulator coordinate control has been greatly improved.
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Ji, Daxiong, Jian Liu, Hongyu Zhao, and Yiqun Wang. "Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control." Journal of Robotics 2014 (2014): 1–6. http://dx.doi.org/10.1155/2014/217875.
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A solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control law based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametric modeling uncertainty. An error integration element is added into the “tanh” function of the traditional sliding mode control. We illustrated our results in the context of the vehicle control applications that an underwater vehicle moves along with the desired paths in 2D space. Simulations show that the control objectives were accomplished.
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Masmitja, Ivan, Spartacus Gomariz, Joaquin Del-Rio, Brian Kieft, Tom O’Reilly, Pierre-Jean Bouvet, and Jacopo Aguzzi. "Optimal path shape for range-only underwater target localization using a Wave Glider." International Journal of Robotics Research 37, no. 12 (October 2018): 1447–62. http://dx.doi.org/10.1177/0278364918802351.
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Underwater localization using acoustic signals is one of the main components in a navigation system for an autonomous underwater vehicle (AUV) as a more accurate alternative to dead-reckoning techniques. Although different methods based on the idea of multiple beacons have been studied, other approaches use only one beacon, which reduces the system’s costs and deployment complexity. The inverse approach for single-beacon navigation is to use this method for target localization by an underwater or surface vehicle. In this paper, a method of range-only target localization using a Wave Glider is presented, for which simulations and sea tests have been conducted to determine optimal parameters to minimize acoustic energy use and search time, and to maximize location accuracy and precision. Finally, a field mission is presented, where a Benthic Rover (an autonomous seafloor vehicle) is localized and tracked using minimal human intervention. This mission shows, as an example, the power of using autonomous vehicles in collaboration for oceanographic research.
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Martin-Abadal, Miguel, Manuel Piñar-Molina, Antoni Martorell-Torres, Gabriel Oliver-Codina, and Yolanda Gonzalez-Cid. "Underwater Pipe and Valve 3D Recognition Using Deep Learning Segmentation." Journal of Marine Science and Engineering 9, no. 1 (December 23, 2020): 5. http://dx.doi.org/10.3390/jmse9010005.
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During the past few decades, the need to intervene in underwater scenarios has grown due to the increasing necessity to perform tasks like underwater infrastructure inspection and maintenance or archaeology and geology exploration. In the last few years, the usage of Autonomous Underwater Vehicles (AUVs) has eased the workload and risks of such interventions. To automate these tasks, the AUVs have to gather the information of their surroundings, interpret it and make decisions based on it. The two main perception modalities used at close range are laser and video. In this paper, we propose the usage of a deep neural network to recognise pipes and valves in multiple underwater scenarios, using 3D RGB point cloud information provided by a stereo camera. We generate a diverse and rich dataset for the network training and testing, assessing the effect of a broad selection of hyperparameters and values. Results show F1-scores of up to 97.2% for a test set containing images with similar characteristics to the training set and up to 89.3% for a secondary test set containing images taken at different environments and with distinct characteristics from the training set. This work demonstrates the validity and robust training of the PointNet neural in underwater scenarios and its applicability for AUV intervention tasks.
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Bruno, F., A. Lagudi, G. Ritacco, M. Muzzupappa, and R. Guida. "OPTO-ACOUSTIC DATA FUSION FOR SUPPORTING THE GUIDANCE OF REMOTELY OPERATED UNDERWATER VEHICLES (ROVs)." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-5/W5 (April 9, 2015): 47–53. http://dx.doi.org/10.5194/isprsarchives-xl-5-w5-47-2015.
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Remotely Operated underwater Vehicles (ROVs) play an important role in a number of operations conducted in shallow and deep water (e.g.: exploration, survey, intervention, etc.), in several application fields like marine science, offshore construction, and underwater archeology. ROVs are usually equipped with different imaging devices, both optical and acoustic. Optical sensors are able to generate better images in close range and clear water conditions, while acoustic systems are usually employed in long range acquisitions and do not suffer from the presence of turbidity, a well-known cause of coarser resolution and harder data extraction. In this work we describe the preliminary steps in the development of an opto-acoustic camera able to provide an on-line 3D reconstruction of the acquired scene. Taking full advantage of the benefits arising from the opto-acoustic data fusion techniques, the system was conceived as a support tool for ROV operators during the navigation in turbid waters, or in operations conducted by means of mechanical manipulators. <br><br> The paper presents an overview of the device, an <i>ad-hoc</i> methodology for the extrinsic calibration of the system and a custom software developed to control the opto-acoustic camera and supply the operator with visual information.
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Renda, Federico, Francesco Giorgio-Serchi, Frederic Boyer, Cecilia Laschi, Jorge Dias, and Lakmal Seneviratne. "A unified multi-soft-body dynamic model for underwater soft robots." International Journal of Robotics Research 37, no. 6 (May 2018): 648–66. http://dx.doi.org/10.1177/0278364918769992.
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A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.
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Antonelli, Gianluca, Filippo Arrichiello, Andrea Caiti, Giuseppe Casalino, Daniela De Palma, Giovanni Indiveri, Matteo Razzanelli, Lorenzo Pollini, and Enrico Simetti. "ISME activity on the use of Autonomous Surface and Underwater Vehicles for acoustic surveys at sea." ACTA IMEKO 7, no. 2 (July 4, 2018): 24. http://dx.doi.org/10.21014/acta_imeko.v7i2.539.
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<p class="Abstract"><span lang="EN-US">The paper presents an overview of the recent and ongoing research activities of the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) in the field of geotechnical seismic surveying. Such activities, performed in the framework of the H2020 European project WiMUST, include the development of technologies and algorithms for Autonomous Surface Crafts and Autonomous Underwater Vehicles to perform geotechnical seismic surveying by means of a team of robots towing streamers equipped with acoustic sensors.</span></p>
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Sun, Yushan, Haotian Zheng, Guocheng Zhang, Jingfei Ren, Hao Xu, and Chao Xu. "DP-ViT: A Dual-Path Vision Transformer for Real-Time Sonar Target Detection." Remote Sensing 14, no. 22 (November 17, 2022): 5807. http://dx.doi.org/10.3390/rs14225807.
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Sonar image is the main way for underwater vehicles to obtain environmental information. The task of target detection in sonar images can distinguish multi-class targets in real time and accurately locate them, providing perception information for the decision-making system of underwater vehicles. However, there are many challenges in sonar image target detection, such as many kinds of sonar, complex and serious noise interference in images, and less datasets. This paper proposes a sonar image target detection method based on Dual Path Vision Transformer Network (DP-VIT) to accurately detect targets in forward-look sonar and side-scan sonar. DP-ViT increases receptive field by adding multi-scale to patch embedding enhances learning ability of model feature extraction by using Dual Path Transformer Block, then introduces Conv-Attention to reduce model training parameters, and finally uses Generalized Focal Loss to solve the problem of imbalance between positive and negative samples. The experimental results show that the performance of this sonar target detection method is superior to other mainstream methods on both forward-look sonar dataset and side-scan sonar dataset, and it can also maintain good performance in the case of adding noise.
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Steinberg, Daniel, Asher Bender, Ariell Friedman, Michael Jakuba, Oscar Pizarro, and Stefan Williams. "Analysis of Propulsion Methods for Long-Range AUVs." Marine Technology Society Journal 44, no. 2 (March 1, 2010): 46–55. http://dx.doi.org/10.4031/mtsj.44.2.3.
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AbstractUnderwater gliders use a buoyancy engine and symmetric wings to produce lift. During operation, gliders follow a saw-tooth trajectory, making them useful vehicles for profiling ocean chemistry. By operating at low speeds with low hotel loads, gliders achieve a high endurance. Man-portable, propeller-driven autonomous underwater vehicles (AUVs) are capable of level flight and can also follow terrain to yield high-quality benthic imagery. These platforms typically operate at high speeds with high hotel loads resulting in relatively low endurance. Although both vehicles are used to collect oceanographic data, constraints on how these vehicles are used differentiate the nature of data they collect. This article examines whether one method of propulsion can provide an intrinsic advantage in terms of horizontal range at low speed, regardless of sampling design. We employ first-principle analysis that concludes that either class of vehicle can be designed to achieve the same horizontal transit performance regardless of speed. This result implies that the choice of propulsion method should be driven exclusively by the application and operational requirements.
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Dudykevych, Valery, and Blintsov Oleksandr. "TASKS STATEMENT FOR MODERN AUTOMATIC CONTROL THEORY OF UNDERWATER COMPLEXES WITH FLEXIBLE TETHERS." EUREKA: Physics and Engineering 5 (September 30, 2016): 25–36. http://dx.doi.org/10.21303/2461-4262.2016.00158.
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The definition of a new class of control objects is proposed. It is an underwater complex with flexible tethers (UCFT) for which there is the need to automate motion control under uncertainty and nonstationarity of own parameters and external disturbances. Classification of marine mobile objects and characteristics of the flexible tethers as UCFT elements is given. The basic UCFTs configurations that are used in the implementation of advanced underwater technologies are revealed. They include single-, double- and three-linked structures with surface or underwater support vessels and self-propelled or towed underwater vehicles. The role of mathematical modeling in tasks of motion control automation is shown. The tasks of UCFT mathematical modeling are formulated for synthesis and study of its automatic control systems. Generalized structures of mathematical models of UCFT basic elements are proposed as the basis for the creation of simulating complex to study the dynamics of its motion. The tasks of UCFT identification as a control object are formulated. Their consistent solution will help to obtain a UCFT mathematical model. The basic requirements for UCFT automatic motion control systems are determined. Their satisfaction will ensure implementation of selected underwater technology. Areas of development of synthesis methods of UCFT automatic control systems are highlighted.
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Martin-Abadal, Miguel, Gabriel Oliver-Codina, and Yolanda Gonzalez-Cid. "Real-Time Pipe and Valve Characterisation and Mapping for Autonomous Underwater Intervention Tasks." Sensors 22, no. 21 (October 24, 2022): 8141. http://dx.doi.org/10.3390/s22218141.
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Nowadays, more frequently, it is necessary to perform underwater operations such as surveying an area or inspecting and intervening on industrial infrastructures such as offshore oil and gas rigs or pipeline networks. Recently, the use of Autonomous Underwater Vehicles (AUV) has grown as a way to automate these tasks, reducing risks and execution time. One of the used sensing modalities is vision, providing RGB high-quality information in the mid to low range, making it appropriate for manipulation or detail inspection tasks. This work presents the use of a deep neural network to perform pixel-wise 3D segmentation of pipes and valves on underwater point clouds generated using a stereo pair of cameras. In addition, two novel algorithms are built to extract information from the detected instances, providing pipe vectors, gripping points, the position of structural elements such as elbows or connections, and valve type and orientation. The information extracted on spatially referenced point clouds can be unified to form an information map of an inspected area. Results show outstanding performance on the network segmentation task, achieving a mean F1-score value of 88.0% at a pixel-wise level and of 95.3% at an instance level. The information extraction algorithm also showcased excellent metrics when extracting information from pipe instances and their structural elements and good enough metrics when extracting data from valves. Finally, the neural network and information algorithms are implemented on an AUV and executed in real-time, validating that the output information stream frame rate of 0.72 fps is high enough to perform manipulation tasks and to ensure full seabed coverage during inspection tasks. The used dataset, along with a trained model and the information algorithms, are provided to the scientific community.
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Pranesh, Bhaskaran, Dharmaraj Sathianarayanan, Sethuraman Ramesh, and Gidugu Ananda Ramadass. "Structural Reinforcement of Viewports in Spherical Pressure Hull for Manned Submersibles." Marine Technology Society Journal 48, no. 3 (May 1, 2014): 17–24. http://dx.doi.org/10.4031/mtsj.48.3.10.
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AbstractManned submersibles are underwater vehicles. These vehicles are equipped with an atmospheric pressure casing called a spherical pressure hull, which can accommodate up to three people. The spherical pressure hull facilitates safe passage to high-pressure environments. It has circular openings that serve as viewports to enable underwater viewing and intervention. The regions near the openings are the weakest in the pressure hull and must be reinforced. Reinforcement of the viewports is performed using the area replacement method. The amount of material removed from the viewport opening must be replaced along the axis of symmetry of the opening. This is the minimum amount of material that must be placed along the circumference of the viewports. Reinforced viewports in the pressure hull are analyzed using finite element analysis, and the stresses are classified into primary and secondary stresses. The reinforcements of the viewports are carried out in such a way that the calculated primary and secondary stresses are below the permissible limits.Abbreviations:P ‐ External pressure (design pressure)Dm ‐ Mean diameter of the pressure hullRm ‐ Mean radius of the pressure hullt ‐ Thickness of the pressure hullσ ‐ Hoop stressPy ‐ Pressure at yield strength of the materialPb ‐ Buckling pressureE ‐ Young’s modulus of the materialγ ‐ Poisson’s ratioMSW ‐ Meters of sea water
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Hwang, Jimin, Neil Bose, and Shuangshuang Fan. "AUV Adaptive Sampling Methods: A Review." Applied Sciences 9, no. 15 (August 2, 2019): 3145. http://dx.doi.org/10.3390/app9153145.
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Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a mission in response to environment changes and vehicle state changes. Having a closed-loop control architecture, an AUV can perceive the environment, interpret the data and take follow-up measures. Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can be traced. This paper presents an overview of existing adaptive sampling techniques. Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations. The potential for future research in adaptive missions is discussed.
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Morrissey, George R., and Michael C. Stone. "Diving Support Vessel Concept Design." Marine Technology and SNAME News 34, no. 02 (April 1, 1997): 148–55. http://dx.doi.org/10.5957/mt1.1997.34.2.148.
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This paper describes the preliminary process for designing a 250 ft dynamically positioned, Diving Support Vessel. This is to serve the offshore oil industry as a platform for underwater intervention. Enlisting the use of the latest technological advances, the vessel will support both remotely operated vehicles and human divers. We will trace the development of this design with a well-defined agenda. Beginning with an analysis of the existing fleet, a practical hull form is created, which leads to solid estimations for hydrostatics, stability, resistance, powering and preliminary arrangements. We will also discuss the steps that will follow over the next several months.
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Lebedeva, Marina Petrovna, Aleksei Olegovich Lebedev, Nina Sergeevna Ageeva, and Artem Aleksandrovich Butsanets. "Shape of unmanned submersible hull taken as classification feature." Vestnik of Astrakhan State Technical University. Series: Marine engineering and technologies 2022, no. 4 (November 30, 2022): 7–18. http://dx.doi.org/10.24143/2073-1574-2022-4-7-18.
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Modern research in the field of oceanology in the Arctic region, studying the ice conditions, environmental and climatic monitoring, prospecting and hydrographic works, monitoring of extended bottom structures, oceano-graphic measurements, search for sunken objects, chemical and physical measurements of the aquatic environment, research of underwater objects and bottom topography cannot be imagined without the use of autonomous unmanned submersibles. Underwater robotics is rapidly developing. In the course of technological progress the scope of applications of autonomous unmanned submersible crafts has significantly expanded. The priority areas of robotics involve developing the intelligent methods and models to control operation of the autonomous submersibles in the extreme and uncertain environmental conditions, developing the architecture of autonomous submersibles, and solving problems of navigation and communication. Each class of autonomous submersible crafts has not only the advantages, but also the disadvantages that limit the scope of their application. Analysis and comparison of autonomous submersibles are carried out, the trends in their development are determined. The alternative classification of autonomous unmanned underwater crafts by the shape of the hull. Various versions of autonomous underwater vehicles and examples of underwater robotics are illustrated. Autonomous unmanned submersible crafts having a bluff shape, well-streamlined cylindrical shape, well-streamlined non-cylindrical shape, well-streamlined bionic shape are considered in detail, the system of control over the submersibles is analyzed.
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Serdaris, Panagiotis, Konstantinos Spinthiropoulos, Michael Agrafiotis, and Athanasios Zisopoulos. "The Minimum Agriculture-Chunk as an Elementary Data Science Component in ADAM, a Micro Targeted, Trainable, Modular, Multipurpose System for Land Farming." Journal of Agricultural Studies 6, no. 4 (December 25, 2018): 84. http://dx.doi.org/10.5296/jas.v6i4.14116.
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The poor Data Science support of agriculture brought us to our main idea of the research is to analyze all micro-works for every plant or tree. Then we proceed to specify targeted actions for harvest collection, micro spraying and hundreds similar simple actions. Initially we collect data from the farm. The airborne, land and underwater unmanned vehicles scan the field area with customized various sensors and cameras in various multi spectral modes. The result is minimum agro-chunk Four-Dimensional model. The unmanned vehicle on the field area receives target data. It is equipped with a general-purpose robotic arm, an absorbing bellow, a robotic pruner, a liquid spraying pipe, an underwater robotic arm and hundreds of others. It moves there and performs the commanded action. Action is flower or nuts collection, insect suction pruning and hundred more. All operations are high trainable by human intervention and the system stores its approach and logic for future action correction.
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Rayaprolu, Venkata Shashank Shankar, and R. Vijayakumar. "Sensitivity Analysis of the Turning Motion of an Underwater Glider on the Viscous Hydrodynamic Coefficients." Defence Science Journal 71, no. 5 (September 2, 2021): 709–17. http://dx.doi.org/10.14429/dsj.71.16905.
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Autonomous underwater gliders (AUG) are a class of underwater vehicles that move using a buoyancy engine and forces from wings. Gliders execute turning motion with the help of a rudder or an internal roll control mechanism and the trajectory of the turn is a spiral. This paper analyses the sensitivity of the characteristics of spiral manoeuvre on the hydrodynamic coefficients of the glider. Based on the dynamics model of a gliding fish whose turn is enabled by a rudder, the effect of hydrodynamic coefficients of the hull and the rudder on the spiral motion are quantified. Local sensitivity analysis is undertaken using the indirect method. The order of importance of hydrodynamic coefficients is evaluated. It is observed that the spiral path parameters are most sensitive to the side force created by the rudder and the effect of the drag coefficient is predominant to that of the lift coefficients. This study will aid in quantifying the effect of change of geometry on the manoeuvrability of AUGs.