Relevant bibliographies by topics / Marine Robotics Systems

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Marine Robotics Systems'

Author: Grafiati
Published: 10 March 2023

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Journal articles on the topic "Marine Robotics Systems"

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Maevsky, Andrey, Vladislav Zanin, and Igor Kozhemyakin. "Promising high-tech export-oriented and demanded by the domestic market areas of marine robotics." Robotics and Technical Cybernetics 10, no. 1 (March 2022): 5–13. http://dx.doi.org/10.31776/rtcj.10101.

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In order to develop the Arctic zone of the Russian Federation, in the decree of the President of the Russian Federation, areas related to the development of the Northern Sea Route, environmental protection of the Arctic zone, an increase in the growth rate of geological research and the development of monitoring systems for the Arctic region were separately noted. Also in this document, the main tasks were identified that require careful study, namely: the development and implementation of technologies and equipment for use in Arctic conditions, the improvement of the environmental monitoring system, the use of modern information and communication technologies and communication systems for measurements from satellites, marine and ice platforms, research vessels, ground points and from observatories. These problems and tasks are already being successfully solved abroad with the help of the development of modern systems and devices used as part of marine robotic complexes (MRTC). This article provides a comprehensive analysis of the use of autonomous unmanned underwater vehicles (AUVs) as part of underwater resident systems. Particular attention is paid to the projects already implemented in the external market in the oil and gas industry. The authors present the implemented developments in the field of marine resident robotics in the Russian Federation. In conclusion, the authors for-mulated proposals for the development of the direction of marine robotics, including for solving problems associated with long-term monitoring and operation of the bottom oil and gas infrastructure. Key words Marine robotic complexes, AUV, resident robotics, seabed stations, underwater service work, underwater monitoring.
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Yu, Son-Cheol, Antonio M. Pascoal, and Jinwhan Kim. "Guest Editorial: Marine Robotics and Control Systems." International Journal of Control, Automation and Systems 18, no. 3 (February 28, 2020): 521–22. http://dx.doi.org/10.1007/s12555-020-9901-2.

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Bingham, Brian S., Jeffrey M. Walls, and Ryan M. Eustice. "Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications." Marine Technology Society Journal 45, no. 3 (May 1, 2011): 25–36. http://dx.doi.org/10.4031/mtsj.45.3.4.

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AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.
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Ivanov, Y. S., S. V. Zhiganov, and N. N. Liubushkina. "Comparative Analysis of Deep Neural Networks Architectures for Visual Recognition in the Autonomous Transport Systems." Journal of Physics: Conference Series 2096, no. 1 (November 1, 2021): 012101. http://dx.doi.org/10.1088/1742-6596/2096/1/012101.

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Abstract This paper analyses and presents an experimental investigation of the efficiency of modern models for object recognition in computer vision systems of robotic complexes. In this article, the applicability of transformers for experimental classification problems has been investigated. The comparison results are presented taking into account various limitations specific to robotics. Based on the results of the undertaken studies, recommendations on the use of models in the marine vessels classification problem are proposed
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Casalino, Giuseppe, Massimo Caccia, Stefano Caselli, Claudio Melchiorri, Gianluca Antonelli, Andrea Caiti, Giovanni Indiveri, et al. "Underwater Intervention Robotics: An Outline of the Italian National Project MARIS." Marine Technology Society Journal 50, no. 4 (July 1, 2016): 98–107. http://dx.doi.org/10.4031/mtsj.50.4.7.

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AbstractThe Italian national project MARIS (Marine Robotics for Interventions) pursues the strategic objective of studying, developing, and integrating technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities. These activities are becoming progressively more typical for the underwater offshore industry, for search-and-rescue operations, and for underwater scientific missions. Within such an ambitious objective, the project consortium also intends to demonstrate the achievable operational capabilities at a proof-of-concept level by integrating the results with prototype experimental systems.
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Zereik, Enrica, Marco Bibuli, Nikola Mišković, Pere Ridao, and António Pascoal. "Challenges and future trends in marine robotics." Annual Reviews in Control 46 (2018): 350–68. http://dx.doi.org/10.1016/j.arcontrol.2018.10.002.

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Pransky, Joanne. "The Pransky interview: Gianmarco Veruggio, Director of Research, CNR-IEIIT, Genoa Branch; Robotics Pioneer and Inventor." Industrial Robot: An International Journal 44, no. 1 (January 16, 2017): 6–10. http://dx.doi.org/10.1108/ir-10-2016-0271.

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Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader, regarding the challenges of bringing technological discoveries to fruition. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Gianmarco Veruggio who is responsible for the Operational Unit of Genoa of the Italian National Research Council Institute of Electronics, Computer and Telecommunication Engineering (CNR-IEIIT). Veruggio is an early pioneer of telerobotics in extreme environments. Veruggio founded the new applicative field of Roboethics. In this interview, Veruggio shares some of his 30-year robotic journey along with his thoughts and concerns on robotics and society. Findings Gianmarco Veruggio received a master’s degree in electronic engineering, computer science, control and automation from Genoa University in 1980. From 1980 to 1983 he worked in the Automation Division of Ansaldo as a Designer of fault-tolerant multiprocessor architectures for fail-safe control systems and was part of the development team for the new automation of the Italian Railway Stations. In 1984, he joined the CNR-Institute of Naval Automation (IAN) in Genoa as a Research Scientist. There, he worked on real-time computer graphics for simulation, control techniques and naval and marine data-collection systems. In 1989, he founded the CNR-IAN Robotics Department (Robotlab), which he headed until 2003, to develop missions on experimental robotics in extreme environments. His approach utilized working prototypes in a virtual lab environment and focused on robot mission control, real-time human-machine interfaces, networked control system architectures for tele-robotics and Internet Robotics. In 2000, he founded the association “Scuola di Robotica” (School of Robotics) to promote this new science among young people and society at large by means of educational robotics. He joined the CNR-IEIIT in 2007 to continue his research in robotics and to also develop studies on the philosophical, social and ethical implications of Robotics. Originality/value Veruggio led the first Italian underwater robotics campaigns in Antarctica during the Italian expeditions in 1993, 1997 and 2001, and in the Arctic during 2002. During the 2001-2002 Antarctic expedition, he carried out the E-Robot Project, the first experiment of internet robotics via satellite in the Antarctica. In 2002, he designed and developed the Project E-Robot2, the first experiment of worldwide internet robotics ever carried out in the Arctic. During these projects, he organized a series of “live-science” sessions in collaboration with students and teachers of Italian schools. Beginning with his new “School of Robotics”, Veruggio continued to disseminate and educate young people on the complex relationship between robotics and society. This led him to coin the term and propose the concept of Roboethics in 2002, and he has since made worldwide efforts at dedicating resources to the development of this new field. He was the General Chair of the “First International Symposium on Roboethics” in 2004 and of the “EURON Roboethics Atelier” in 2006 that produced the Roboethics Roadmap. Veruggio is the author of more than 150 scientific publications. In 2006, he was presented with the Ligurian Region Award for Innovation, and in 2009, for his merits in the field of science and society, he was awarded the title of Commander of the Order of Merit of the Italian Republic, one of Italy’s highest civilian honors.
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Kim, Kwang J., Viljar Palmre, Tyler Stalbaum, Taeseon Hwang, Qi Shen, and Sarah Trabia. "Promising Developments in Marine Applications With Artificial Muscles: Electrodeless Artificial Cilia Microfibers." Marine Technology Society Journal 50, no. 5 (September 1, 2016): 24–34. http://dx.doi.org/10.4031/mtsj.50.5.4.

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AbstractIonic polymer-metal composite artificial muscles have received great research attention in the development of robotic manipulators, advanced medical devices, and underwater propulsors, such as artificial fish fins. This is due to their unique properties of large deformation, fast dynamic response, low-power requirements, and the ability to operate in aquatic environments. Recently, locomotion of biological cells and microorganisms through unique motion of cilium (flagellum) has received great interest in the field of biomimetic robotics. It is envisioned that artificial cilia can be an effective strategy for maneuvering and sensing in small-scale bioinspired robotic systems. However, current actuators used for driving the robots are typically rigid, bulky in mechanism and electronics requirements producing some acoustic signatures, and difficult to miniaturize. Herein, we report biomimetic, wirelessly driven, electroactive polymer (EAP) microfibers that actuate in an aqueous medium when subjected to an external electric field of <5 V/mm, which can be realized to create cilia-based robotic systems for aquatic applications. Initial development and manufacturing of these systems is presented in this paper. The EAP fibers are fabricated from ionic polymer precursor resin through melt-drawing process and have a circular cross-section with a diameter of 30‐70 μm. When properly activated and subjected to an electric field with switching polarity, the EAP fibers exhibit cyclic actuation with adequate response time (0.05‐5 Hz). The experimental results are presented and discussed to demonstrate the performance and feasibility of biomimetic cilia-based microactuators. Prospective bioinspired applications of the artificial muscle cilia-based system in marine operations are also discussed.
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Kassler, Michael. "Robotics and prawn-handling." Robotica 8, no. 4 (October 1990): 299–301. http://dx.doi.org/10.1017/s0263574700000333.

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SUMMARYPrawns are a significant marine resource in Australia and elsewhere, but their processing after the harvest is a very labour-intensive operation. Every prawn is presently hand packed. The possibility of utilising machine vision and robots to automate this operation has been investigated. Experiments indicate that machine vision can classify prawns into mass-related categories better than people now do, and that prawn orientation can be determined by this means. Although at the present state of technology it appears infeasible for robots to make up the multi-layer fixed-weight packs of prawns as is now done manually, a change to single-layer variable-weight packs should allow this process to be automated and would offer significant advantages to the Australian industry.
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Blintsov, V. S., O. P. Klochkov, and P. S. Kucenko. "CLASSIFICATION CHARACTERISTICS OF UNMANNED TETHERED UNDERWATER SYSTEMS AS A COMPONENT OF IMPROVING THE EFFICIENCY OF THEIR DESIGN." Scientific Bulletin Kherson State Maritime Academy 1, no. 22 (2020): 86–98. http://dx.doi.org/10.33815/2313-4763.2020.1.22.086-098.

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The design stage is considered to be rather resource-intensive in the entire process of creating marine robotic technology. Therefore, the applied scientific task of reducing the resource costs for those processes is of high interest. Among other things, the time consumed for design stage has to be reduced by determining the design characteristics at an early stage of design. The approach considered to reduce such costs involves structuring the classification features of tethered underwater systems in such a way as to simplify the selection and justification of design solutions at the stage of preliminary system design. For design engineers of underwater equipment, the list of classification features of tethered self-propelled and those towed underwater systems has been suggested. The list is based on a system approach and is structured according to material, energy, information and operational (functional) criteria. All of that enables performing the comparative assessment of existing systems upon key indicators and formalizing the processes of their synthesis at early stages of design. To demonstrate the capabilities of the system approach, the generalized algorithm for the organization of design works using the system of classification features of tethered self-propelled and towed underwater systems at the early stages of their design. The algorithm involves the formation and structuring of many classification features of such systems as the initial stage of the process of making effective design decisions in the early stages of design of underwater robotics. It has been revealed that putting in use the classification features system in question, enables deploying minimal project resources to make reference to the relevant databases and decide on already-existing artifact projects and select out of those available in the underwater equipment market key components and parts of underwater systems which would satisfy the requirements of the technical task of implementing the tethered underwater systems. That would significantly reduce the prime cost of design works and enhance the competitiveness of domestic science-based achievements in the markets of marine robotics.
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Dissertations / Theses on the topic "Marine Robotics Systems"

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Andresen, Simen. "Underwater Robotics : control of marine manipulator-vehicle systems." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25875.

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For using underwater vehicle-manipulator systems (UVMS) in a challenging envi-ronment, it is important to have a good mathematical description of the systemwhich accounts for disturbances such as ocean currents. The dynamics equation onmatrix form is therefore derived and different properties such as positive definitenessand skew symmetry is obtained. Based on the derived equations, a sliding modecontroller has been designed in order to track trajectories in the configuration spaceof the UVMS. The controller is robust when it comes to uncertainties in dynamicsparameters and uncertainties in ocean current, yielding global asymptotic stabilityas long as the uncertainties are bounded.Furthermore, a kinematic control system has been designed for facilitating humanoperation of a UVMS, by allowing an operator to only control the end effectormotion. The rest of the motion is then resolved through a weighted least-normpseudo inverse solution of the Jacobian matrix, in order to avoid mechanical jointlimits. Moreover, the vehicle’s motion is controlled by an event based algorithm tolimit the motion of the vehicle. This is done by attaching a 3D meshed polygon tothe vehicle frame and check if the end effector is inside or outside this mesh. Themesh then represents the space, relative to the manipulator, were the end effectoris fully dexterous. The vehicle will then be commanded to move only when the endeffector reaches the outside of the meshed polygon.A simulator has been implemented, based on the derived equations. The simula-tions of the UVMS, with the two controllers, yields good tracking results for trackingtrajectories both in the workspace of the end effector and in the configuration spaceof the UVMS.
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Maalouf, Divine. "Contribution to nonlinear adaptive control of low inertia underwater robots." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20196/document.

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L'utilisation des véhicules sous-marins (ROV, AUV, gliders) s'est considérablement accrue ces dernières décennies, aussi bien dans le domaine de l'offshore ou de l'océanographie, que pour des applications militaires. Dans cette thèse, nous abordons le problème particulier de la commande des véhicules sous-marins à faible inertie et fort rapport puissance/inertie. Ces derniers constituent des systèmes fortement non linéaires, dont la dynamique est susceptible de varier au cours du temps (charge embarquée, caractéristiques des propulseurs, variation de salinité...) et qui sont très sensibles aux perturbations environnementales (chocs, traction sur l'ombilical...). Afin d'assurer des performances de suivi de trajectoire satisfaisantes, il est nécessaire d'avoir recours à une commande adaptative qui compense les incertitudes ou les variations des paramètres du modèle dynamique, mais également qui rejette les perturbations, telles que les chocs. A cette fin, nous proposons dans ce manuscrit, l'étude théorique et la validation expérimentale de plusieurs lois de commande pour véhicules sous-marins. Nous analysons tout d'abord des approches classiques dans ce domaine (commande PID et commande par retour d'état non linéaire), puis nous les comparons avec deux autres architectures de commande. La première est la commande adaptative L1 non linéaire, introduite en 2010 notamment pour la commande des véhicules aériens, et implémentée pour la première fois sur un véhicule sous-marin. Le découplage entre adaptation et robustesse permet l'utilisation de très grands gains d'adaptation (et donc une convergence plus rapide des paramètres estimés, sans aucune connaissance a priori), sans pour autant dégrader la stabilité. La seconde méthode, que nous proposons et qui constitue l'apport principal de cette thèse, est une évolution de la commande L1, permettant d'en améliorer les performances lors du suivi d'une trajectoire variable. Nous présentons une analyse de stabilité de cette commande, ainsi que sa comparaison expérimentale avec les autres lois de commande (commande PID, commande adaptative par retour d'état non linéaire et commande adaptative L1 standard). Ces expérimentations ont été réalisées sur un mini-ROV et plusieurs scenarii ont été étudiés, permettant ainsi d'évaluer, pour chaque loi, sa robustesse et son aptitude à rejeter les perturbations
Underwater vehicles have gained an increased interest in the last decades given the multiple tasks they can accomplish in various fields, ranging from scientific to industrial and military applications. In this thesis, we are particularly interested in the category of vehicles having a high power to weight ratio. Different challenges in autonomous control of such highly unstable systems arise from the inherent nonlinearities and the time varyingbehavior of their dynamics. These challenges can be increased by the low inertia of this class of vehicles combined with their powerful actuation. A self tuning controller is therefore required in order to avoid any performance degradation during a specific mission. The closed-loop system is expected to compensate for different kinds of disturbances or changes in the model parameters. To solve this problem, we propose in this work the design,analysis and experimental validation of different control schemes on an underwater vehicle. Classical methods are initially proposed, namely the PID controller and the nonlinear adaptive state feedback (NASF) one, followed by two more advanced schemes based on the recently developed L1 adaptive controller. This last method stands out among the other developed ones in its particular architecture where robustness and adaptation are decoupled. In this thesis, the original L1 adaptive controller has been designed and successfullyvalidated then an extended version of it is proposed in order to deal with the observed time lags occurring in presence of a varying reference trajectory. The stability of this latter controller is then analysed and real-time experimental results for different operating conditions are presented and discussed for each proposed controller, assessing their performance and robustness
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Carlési, Nicolas. "Coopération entre véhicules sous-marins autonomes : une approche organisationnelle réactive multi-agent." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20092.

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Les applications sous-marines actuelles exigent la réalisation de travaux de différentes natures dans des zones de plus en plus vastes et toujours plus profondes. La conception et l'utilisation de flottilles d'AUV dans ce contexte est un véritable challenge. Les bénéfices attendus sontmultiples. Premièrement, cela doit permettre de minimiser les coûts grâce à une répartition de ceux-ci sur l'ensemble de la flottille : la perte d'un AUV ou son mauvais fonctionnement ne remettront pas en cause l'intégralité de la mission. Deuxièmement, l'utilisation d'une flottilledoit de fait permettre de réduire le temps d'exécution d'une mission grâce à la parallélisation de certaines tâches. Enfin, la réalisation d'une mission par une flottille permet de conserver le caractère spécialisé des AUV et donc d'envisager plus facilement leur réutilisation dansd'autres contextes. Cependant, les approches de coopération multi-AUV existantes sont limitées par deux principaux verrous : (1) le nombre de communications induit et (2) la gestion de l'hétérogénéité potentielle d'une flottille.L'approche que nous proposons vise à répondre à ces problématiques.L'idée principale est de combiner une approche de coopération réactive avec une approche organisationnelle. L'approche de coopération réactive permet l'échange des signaux de communication très simples. Cependant, elle ne permet de résoudre que des problèmes de coopération de nature assez restreinte qui concernent essentiellement la coordination spatiale de véhicules homogènes. La première contribution de cette thèse est l'extension de l'approche satisfaction-altruisme. Un nouveau mécanisme décisionnel réactif, capable de considérer des actions coopératives de diverses natures, est proposé. La deuxième contribution consiste à spécifier les contextes d'interactions réactives à l'aide d'une approche organisationnelle. Le modèle organisationnel Agent/Groupe/Rôle est utilisé pour avoir une représentation explicite de l'organisation de la flottille. Les concepts de groupe, mais surtout de rôle, sont employés dans l'adressage des signaux de communication et permettent la mise en oeuvre d'interactions hétérogènes avec une grande modularité. L'ensemble est intégré dans une nouvelle architecture logicielle, appelée REMORAS, destinée à équiper des véhicules sous-marins autonomes. Une validation de la faisabilité de notre approche est proposée à l'aide d'une simulation de plusieurs scénarios mettant en jeu des AUV hétérogènes
Underwater marine applications are nowadays branching into various fields covering larger and deeper zones. Performing the required tasks with the aid of AUV flotillas is a real challenge. However, the advantages of using such a new technology are numerous. Firstly, this would highly reduce the cost of the mission thanks to the distribution of this former among the various AUV: the loss of one AUV or its bad functioning will not degrade the performance of the flotilla in general. Secondly, the use of a flotilla reduces the execution time of a mission given the parallelization of certain tasks. Finally, any mission can be accomplished by the flotilla by taking into consideration the specificity of each AUV. In fact, each of these vehicles holds different characteristics rendering the global architecture heterogeneous and therefore applicable in different contexts. However, the methods concerned with multi-AUV cooperation are hindered by two main limitations: (1) the number of communications induced and (2) the management of the heterogeneity in the flotilla.The proposed approach aims at responding to these challenges. The principal idea is to combine this reactive cooperational approach with an organizational one. The reactive cooperational approach allows the exchange of simple communication signals. However, it does not help in solving the problems of cooperation that are very constrained and that mainly concern the spatial coordination of homogeneous vehicles. The first contribution in this thesis is the extension of the satisfaction-altruism approach. A new reactive decisional mechanism capable of considering the cooperative actions of various natures is proposed. The second contribution consists in specifying the context of reactive interactions based on an organizational approach. The organizational model Agent/Group/Role is used in order to have an explicit representation of the flotilla. The concepts of "group" and especially "role" are used in the attribution of the communication signals allowing the accomplishment of heterogeneous interactions with a big modularity. A new concept is therefore born and is integrated in a new software architecture called REMORA intended to equip autonomous underwater vehicles. This proposed new method has been validated through various numerical simulations in different scenarios putting at stake heterogeneous AUV
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Eich, Markus [Verfasser], Frank [Akademischer Betreuer] Kirchner, and Bernd [Akademischer Betreuer] Krieg-Brückner. "Marine Vessel Inspection as a Novel Field for Service Robotics: A Contribution to Systems, Control Methods and Semantic Perception Algorithms / Markus Eich. Gutachter: Frank Kirchner ; Bernd Krieg-Brückner. Betreuer: Frank Kirchner." Bremen : Staats- und Universitätsbibliothek Bremen, 2013. http://d-nb.info/1072078546/34.

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Le, Mézo Thomas. "Bracketing largest invariant sets of dynamical systems : an application to drifting underwater robots in ocean currents." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2019. http://www.theses.fr/2019ENTA0012.

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La vérification de la sûreté de fonctionnement des systèmes robotiques est une question fondamentale pour le développement de la robotique. Elle consiste, par exemple, à vérifier qu’une loi de commande d’un robot respectera toujours un ensemble de contraintes. Plus généralement, nous nous intéresserons ici à la vérification des propriétés de systèmes dynamiques, ces derniers permettant de modéliser l’évolution d’un robot. La contribution principale de cette thèse est d’apporter un nouveau moyen d’encadrer les ensembles invariants de systèmes dynamiques. Pour cela, un nouveau domaine abstrait, les mazes, et de nouveaux algorithmes sont présentés. Il est également montré, au travers de nombreux exemples, comment des problèmes classiques de validation peuvent être ramenés à un problème d’encadrement d’ensembles invariants. Enfin, les résultats sont étendus à l’encadrement des noyaux de viabilités.Cette thèse s’appuie également sur une application en robotique sous-marine. L’idée principale est d’utiliser les courants marins pour qu’un robot sous-marin puisse parcourir avec efficience de grandes distances. Un nouveau type de robot autonome bas coûts a été développé pour ce type de mission. Ce nouveau flotteur profileur hybride est capable de se réguler en profondeur grâce à une nouvelle loi de régulation, mais également de corriger sa trajectoire à l’aide de propulseurs auxiliaires. Ils permettent au robot de choisir la bonne veine de courant à emprunter.Les outils de validations précédemment introduits sont utilisés pour valider la sûreté du robot et de la mission. Des expérimentations en conditions réelles ont également permis de valider le prototype
The proof of safety of robotic systems is afundamental issue for the development of robotics. Itconsists, for instance, in verifying that a robot controllaw will always satisfy a set of constraints. More gen-erally, we will be interested here in the verificationof the properties of dynamical systems that allow tomodel the evolution of a robot.The main contribution of this thesis is to providea new way of bracketing invariant sets of dynami-cal systems. To this end, a new abstract domain, themazes, and new algorithms are presented. It is alsoshown, through many examples, how classic valida-tion problems can be translated into a problem ofbracketing invariant sets. Finally, the results are ex-tended to the bracket of viability kernels.This thesis is also based on an application in un-derwater robotics. The main idea is to use oceancurrents so that an underwater robot can efficientlytravel long distances. A new kind of low-cost au-tonomous robot has been developed for this type ofmission. This new hybrid profiling float is able to reg-ulate its depth with a new regulation law, but also tocorrect its trajectory using auxiliary thrusters. Theyallow the robot to choose the right flow of current tobe used. The previously introduced validation toolsare applied to validate the robot and the missionsafety. Experiments in real conditions also enabledthe prototype to be validated
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Roper, Daniel. "Energy based control system designs for underactuated robot fish propulsion." Thesis, University of Plymouth, 2013. http://hdl.handle.net/10026.1/1560.

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In nature, through millions of years of evolution, fish and cetaceans have developed fast efficient and highly manoeuvrable methods of marine propulsion. A recent explosion in demand for sub sea robotics, for conducting tasks such as sub sea exploration and survey has left developers desiring to capture some of the novel mechanisms evolved by fish and cetaceans to increase the efficiency of speed and manoeuvrability of sub sea robots. Research has revealed that interactions with vortices and other unsteady fluid effects play a significant role in the efficiency of fish and cetaceans. However attempts to duplicate this with robotic fish have been limited by the difficulty of predicting or sensing such uncertain fluid effects. This study aims to develop a gait generation method for a robotic fish with a degree of passivity which could allow the body to dynamically interact with and potentially synchronise with vortices within the flow without the need to actually sense them. In this study this is achieved through the development of a novel energy based gait generation tactic, where the gait of the robotic fish is determined through regulation of the state energy rather than absolute state position. Rather than treating fluid interactions as undesirable disturbances and `fighting' them to maintain a rigid geometric defined gait, energy based control allows the disturbances to the system generated by vortices in the surrounding flow to contribute to the energy of the system and hence the dynamic motion. Three different energy controllers are presented within this thesis, a deadbeat energy controller equivalent to an analytically optimised model predictive controller, a $H_\infty$ disturbance rejecting controller with a novel gradient decent optimisation and finally a error feedback controller with a novel alternative error metric. The controllers were tested on a robotic fish simulation platform developed within this project. The simulation platform consisted of the solution of a series of ordinary differential equations for solid body dynamics coupled with a finite element incompressible fluid dynamic simulation of the surrounding flow. results demonstrated the effectiveness of the energy based control approach and illustrate the importance of choice of controller in performance.
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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.

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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposées
The offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
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Rohou, Simon. "Reliable robot localization : a constraint programming approach over dynamical systems." Thesis, Brest, 2017. http://www.theses.fr/2017BRES0127.

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Aujourd’hui, la localisation de robots sous-marins demeure une tâche complexe. L’utilisation de capteurs habituels est impossible sous la surface, tels que ceux reposant sur les systèmes de géolocalisation par satellites. Les approches inertielles sont quant à elles limitées par leur forte dérive dans le temps. De plus, les fonds marins sont généralement homogènes et non structurés, rendant difficile l’utilisation de méthodes SLAM connues, qui couplent la localisation et la cartographie de manière simultanée. Il devient donc nécessaire d’explorer de nouvelles alternatives. Notre approche consiste à traiter un problème de SLAM de manière purement temporelle. L’originalité de ce travail est de représenter le temps comme une variable classique qu’il faut estimer. Cette stratégie soulève de nouvelles opportunités dans le domaine de l’estimation d’état, permettant de traiter de nombreux problèmes sous un autre angle. Toutefois, une telle résolution temporelle demande un ensemble d’outils théoriques qu’il convient de développer. Cette thèse n’est donc pas seulement une contribution dans le monde de la robotique mobile, elle propose également une nouvelle démarche dans les domaines de la propagation de contraintes et des méthodes ensemblistes. Cette étude apporte de nouveaux outils de programmation par contracteurs qui permettent le développement de solveurs pour des systèmes dynamiques. Les composants étudiés sont mis en application tout au long de ce document autours de problèmes robotiques concrets
The localization of underwater robots remains a challenging issue. Usual sensors, such as Global NavigationSatellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply usual Simultaneous Localization and Mapping (SLAM) methods to perform a localization.Hence, innovative approaches have to be explored. The presented method can be characterized as a raw-data SLAM approach, but we propose a temporal resolution – which differs from usual methods – by considering time as a standard variable to be estimated. This concept raises new opportunities for state estimation, under-exploited so far. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization.This thesis is thus not only a contribution in the field of mobile robotics, it also offers new perspectives in the areas of constraint programming and set-membership approaches. We provide a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this document with realistic robotic applications
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Rosendo, Juan luis. "Techniques robustes pour le contrôle automatique des systèmes robotiques." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2019. http://www.theses.fr/2019ENTA0004.

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Ce travail vise à atténuer les effets des contraintes sur les systèmes robotiques mobiles. À cette fin, des structures de commande auxiliaire et des techniques de réglage robuste sont proposées. Les structures sont proposées dans le cadre du suivi de chemin pour atténuer les effets des contraintes sur les entrées et les sorties des systèmes. Ensuite, étant donnée leur utilisation répandue en robotique, les contrôleurs de type PID sont considérés comme une contrainte structurelle. Une méthode de réglage robuste, tenant compte de cette contrainte, est proposée permettant d’atteindre de bons niveaux de performance même en présence de perturbations. Enfin, pour faire face à la robustesse en présence des contraintes de non-linéarité sur robots, un outil d’analyse et de réglage pour les contrôleurs de mode glissant est proposé. La particularité de cette méthode de réglage, basée sur des techniques d’optimisation globale et de calculs par intervalles, est qu’elle permet de générer des cartographies de réglage des paramètres pour lesquels le critère de performance souhaité est rempli.Toutes les stratégies proposées sont mises en pratique par des expérimentations réelles ou sur des simulateurs validés (AUV Ciscrea disponible à l’ENSTA Bretagne)
This work seeks to mitigate the effects of constraints on mobile robotic systems. To this end, auxiliary control loops and robust tuning techniques are proposed. The former are proposed to mitigate the effects of constraints on the input and output of the systems through the modification of the motion parameter in path following applications.Then, PID controllers are considered as a structural constraint, given its wide use in robotics particularly at low control level. A robust tuning methodology considering this constraint is proposed which achieves good performancelevels even when facing disturbances. Finally, to deal with robustness in presence of robots nonlinearity constraints, an analysis and tuning tool for sliding mode controllers is proposed. The particularity of this tuning method, based on global optimization and interval techniques,is that it allows generating tuning maps of the parameter regions where the desired performance criterion is fulfilled. All the proposed strategies are put into practice, through real experimentation or invalidated simulators, over the AUV Ciscrea available at ENSTA Bretagne
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Xiang, Xianbo. "Coordinated motion control of multiple underactuated autonomous underwater vehicles." Thesis, Montpellier 2, 2011. http://www.theses.fr/2011MON20005.

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Cette thèse traite de la question du contrôle du mouvement d'engins non-holonomes et sous-actionnés évoluant de manière coordonnée et autonome. Les différentes approches considérées sont le suivi de trajectoire (Trajectory Tracking TT) et le suivi de chemin (path following PF). Une nouvelle méthode de contrôle est proposée. Dénommée Path-Tracking (PT), elle permet de cumuler les avantages de chacune des deux précédentes méthodes, permettant de cumuler la souplesse de la convergence induite par le suivi de chemin avec le respect des contraintes temporelles du suivi de trajectoire. L'étude et la réalisation de la commande démarre avec l'étude du cas du robot nonholonome de type Unicycle' et se base sur les principes de Lyapunov' et de Backstepping'. Ces premiers résultats sont ensuite étendus au cas d'un véhicule sous-marin sous-actionné de type AUV (Autonomous Underwater Vehicle'), en analysant les similarités cinématiques entre ces deux types de véhicules. De plus, il est montré la nécessité de prendre en compte les propriétés dynamiques du système de type AUV, et la condition de Stern dominancy' est établie de façon à garantir que le problème est bien posé et ainsi que la commande soit aisément calculable. Dans la cas d'un système marin sur-actionné, qui peut ainsi effectuer des tâches de navigation au long cours et de positionnement désiré (Station keeping'), une commande hybride est proposée. Enfin, la question du contrôle coordonné d'une formation d'engins marin est abordée. Les colutions de commande pour les taches de suivi de chemin coordonné (coordinated path following') et de coordinated path tracking' sont proposées. Les principes du leader-follower' et la méthode des structures virtuelles sont ainsi traitées dans un cadre de contrôle centralisé, et le cas décentralisé est traité en utilisant certains principes de théorie des graphes
In this dissertation, the problems of motion control of underactuated autonomous vehicles are addressed,namely trajectory tracking (TT), path following (PF), and novelly proposed path tracking whichblending the PF and TT together in order to achieve smooth spatial convergence and tight temporalperformance as well.The control design is firstly started from the benchmark case of nonholonomic unicycle-type vehicles,where the Lyapunov-based design and backstepping technique are employed, and then it is extendedto the underactuated AUVs based on the similarity between the control inputs of two kinds of vehicles.Moreover, dealing with acceleration of side-slip angle is highlighted and stern-dominant property of AUVsis standing out in order to achieve well-posed control computation. Transitions of motion control fromunderactuated to fully actuated AUVs are also proposed.Finally, coordinated formation control of multiple autonomous vehicles are addressed in two-folds,including coordinated paths following and coordinated paths tracking, based on leader-follower andvirtual structure method respectively under the centralized control framework, and then solved underdecentralized control framework by resorting to algebraic graph theory
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Books on the topic "Marine Robotics Systems"

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IEEE International Symposium on Assembly and Task Planning (1997 Marina del Rey, Calif.). 1997 IEEE International Symposium on Assembly and Task Planning (ISATP'97): Towards flexible and agile assembly and manufacturing, August 7-9, 1997, Marina del Rey Hotel, Marina del Rey, California. [New York, N.Y.]: Institute of Electrical and Electronics Engineers, 1997.

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Pushkin, Kachroo, ed. Autonomous underwater vehicles: Modeling, control design, and simulation. Boca Raton: CRC Press, 2011.

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1997 IEEE International Symposium on Assembly and Task Planning (ISATP'97): Towards flexible and agile assembly and manufacturing, August 7-9, 1997, Marina del Rey Hotel, Marina del Rey, California. IEEE Customer Service, 1997.

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Yu, Junzhi, Xingyu Chen, and Shihan Kong. Visual Perception and Control of Underwater Robots. Taylor & Francis Group, 2022.

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Yu, Junzhi, Xingyu Chen, and Shihan Kong. Visual Perception and Control of Underwater Robots. Taylor & Francis Group, 2021.

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Yu, Junzhi, Xingyu Chen, and Shihan Kong. Visual Perception and Control of Underwater Robots. Taylor & Francis Group, 2021.

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Yu, Junzhi, Xingyu Chen, and Shihan Kong. Visual Perception and Control of Underwater Robots. Taylor & Francis Group, 2021.

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Yu, Junzhi, Xingyu Chen, and Shihan Kong. Visual Perception and Control of Underwater Robots. Taylor & Francis Group, 2021.

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Karimi, Hamid Reza. Offshore Mechatronics Systems Engineering. Taylor & Francis Group, 2018.

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Karimi, Hamid Reza. Offshore Mechatronics Systems Engineering. Taylor & Francis Group, 2018.

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Book chapters on the topic "Marine Robotics Systems"

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Grimble, Michael J., and Paweł Majecki. "Nonlinear Automotive, Aerospace, Marine and Robotics Applications." In Nonlinear Industrial Control Systems, 699–759. London: Springer London, 2020. http://dx.doi.org/10.1007/978-1-4471-7457-8_15.

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Suresha, H. S., D. N. Sumithra, J. N. Renuka, B. N. Deepika, and N. B. Meghana. "Application of Swarm Robotics Systems to Marine Environmental Monitoring." In Lecture Notes in Electrical Engineering, 1075–83. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-3690-5_102.

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Valzano, Mariantonietta, Cinzia Vergine, Lorenzo Cesaretti, Laura Screpanti, and David Scaradozzi. "Ten years of Educational Robotics in a Primary School." In Makers at School, Educational Robotics and Innovative Learning Environments, 283–89. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-77040-2_38.

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AbstractMany researchers and teachers agree that the inclusion of science, technology, engineering, and mathematics in early education provides strong motivation and greatly improves the speed of learning. Most primary school curricula include a number of concepts that cover science and mathematics, but less effort is placed in teaching problem-solving, computer science, technology and robotics. The use of robotic systems and the introduction of robotics as a curriculum subject educates children in the basics of technology, and gives them additional human and organizational values. This paper presents a new program introduced in an Italian primary school, thanks to a collaboration with National Instruments and Università Politecnica delle Marche. Specifically, the project’s curricular aim was to improve logic, creativity, and the ability to focus, all of which are lacking in today’s generation of students. The subject of robotics will be part of the primary school’s curriculum for all five years. The program has delivered training to the teachers, and a complete program in which children have demonstrated great learning abilities, not only in technology, but also in collaboration and teamwork.
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Miskovic, Nikola, Zoran Vukic, and Antonio Vasilijevic. "Autonomous Marine Robots Assisting Divers." In Computer Aided Systems Theory - EUROCAST 2013, 357–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-53862-9_46.

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Rypkema, Nicholas R., and Henrik Schmidt. "Formation Control of a Drifting Group of Marine Robotic Vehicles." In Distributed Autonomous Robotic Systems, 633–47. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-73008-0_44.

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Salavasidis, Georgios, Catherine A. Harris, Eric Rogers, and Alexander B. Phillips. "Co-operative Use of Marine Autonomous Systems to Enhance Navigational Accuracy of Autonomous Underwater Vehicles." In Towards Autonomous Robotic Systems, 275–81. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-40379-3_28.

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Lee, Hyun, Dong kyu Yi, Jun seok Lee, Gye-do Park, and Jang Myung Lee. "Marine Engine State Monitoring System Using Distributed Precedence Queue Mechanism in CAN Networks." In Intelligent Robotics and Applications, 237–45. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16584-9_22.

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Glotzbach, Thomas. "Mathematical Tools Used From the Areas of Control and Systems Engineering." In Navigation of Autonomous Marine Robots, 87–206. Wiesbaden: Springer Fachmedien Wiesbaden, 2020. http://dx.doi.org/10.1007/978-3-658-30109-5_4.

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Gao, Xiaohui, Xiangyu Zhao, and Juan Wang. "Design and Implementation of the Marine Environmental Monitoring Database Construction-Cum-Visual Management System." In Informatics in Control, Automation and Robotics, 411–18. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25899-2_55.

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Belyakov, V. V., P. O. Beresnev, D. V. Zeziulin, A. A. Kurkin, O. E. Kurkina, V. D. Kuzin, V. S. Makarov, P. P. Pronin, D. Yu Tyugin, and V. I. Filatov. "Autonomous Mobile Robotic System for Coastal Monitoring and Forecasting Marine Natural Disasters." In Proceedings of the Scientific-Practical Conference "Research and Development - 2016", 129–36. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-62870-7_14.

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Conference papers on the topic "Marine Robotics Systems"

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Bernstein, Matthew, Rishi Graham, Danelle Cline, John M. Dolan, and Kanna Rajan. "Learning-based event response for marine robotics." In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013). IEEE, 2013. http://dx.doi.org/10.1109/iros.2013.6696835.

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Duarte, Miguel, Jorge Gomes, Vasco Costa, Tiago Rodrigues, Fernando Silva, Victor Lobo, Mario Monteiro Marques, Sancho Moura Oliveira, and Anders Lyhne Christensen. "Application of swarm robotics systems to marine environmental monitoring." In OCEANS 2016 - Shanghai. IEEE, 2016. http://dx.doi.org/10.1109/oceansap.2016.7485429.

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Smolka, Bogdan, and Monika Mendrela. "Marine Snow Removal in Underwater Images." In Workshop on Robotics, Computer Vision and Intelligent Systems. SCITEPRESS - Science and Technology Publications, 2022. http://dx.doi.org/10.5220/0011588200003332.

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Abaid, Nicole, Vladislav Kopman, and Maurizio Porfiri. "A Miniature and Low-Cost Robotic Fish for Ethorobotics Research and Engineering Education: Part II—STEM Outreach." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6006.

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Interactive robotics in formal and informal settings alike has been shown to effectively excite and educate learners at every level. In this second of two papers, we present the educational application of recently-developed biomimetic robotic fish for K-12 learning at the New York Aquarium focused on underwater robotics and marine science. We narrate the development, organization, and execution of an outreach program designed around these robotic fish to pique K-12 students’ interest in science, technology, engineering, and mathematics (STEM) and to attract them toward engineering careers. The activity offers an authentic engineering experience through bioinspired modification of the swimming robots informed by observation of the aquarium’s inhabitants. Student survey responses indicate the success of the activity in influencing the students’ perception of engineering. More specifically, the students showed an increased interest in STEM fields and found engineering to be a more accessible and exciting discipline after the activity.
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Pairet, Eric, Juan David Hernandez, Morteza Lahijanian, and Marc Carreras. "Uncertainty-based Online Mapping and Motion Planning for Marine Robotics Guidance." In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018. http://dx.doi.org/10.1109/iros.2018.8593394.

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Maurelli, Francesco, Szymon Krupinski, Antonio Pascoal, Nikola Miskovic, Kostas Kyriakopolous, Pere Ridao, Maarja Kruusmaa, and Ralf Bachmayer. "IMPACT: a strategic partnership for sustainable development in marine systems and robotics." In 2020 IEEE / ITU International Conference on Artificial Intelligence for Good (AI4G). IEEE, 2020. http://dx.doi.org/10.1109/ai4g50087.2020.9311023.

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Hagen, I. B., D. K. M. Kufoalor, E. F. Brekke, and T. A. Johansen. "MPC-based Collision Avoidance Strategy for Existing Marine Vessel Guidance Systems." In 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. http://dx.doi.org/10.1109/icra.2018.8463182.

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Utne, Ingrid Bouwer, Asgeir J. Sørensen, and Ingrid Schjølberg. "Risk Management of Autonomous Marine Systems and Operations." In ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/omae2017-61645.

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Autonomous systems may lead to smarter and more efficient operations, but emerging risks are involved, because of lack of knowledge and operational experience with such systems, and challenges related to verification of safe performance. The objective of this paper is to clarify, categorize, and classify risk related to autonomous marine systems, and establish a foundation for risk management of such systems. Autonomous systems are usually associated with unmanned systems, but several manned systems, e.g., offshore oil and gas rigs and ships with complex automation and dynamic positioning (DP) systems, have certain control functionality that may be characterized as autonomous. Therefore, this paper addresses both manned and unmanned systems with different levels of autonomy. This means that the concept of autonomy in this paper includes a range of systems and operations with increasing complexity and major hazard potential, even though autonomous ships are used to exemplify. Hence, the paper addresses a broader approach in contrast to the traditional focus on robotics.
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Anselem Tengecha, Nyamatari, and Xinyu Zhang. "Status, Constraints and Strategies of Marine Traffic Flow on Dar es Salaam Port, Tanzania." In RSVT 2020: 2020 2nd International Conference on Robotics Systems and Vehicle Technology. New York, NY, USA: ACM, 2020. http://dx.doi.org/10.1145/3450292.3450314.

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Dahlstrom, Robert L. "Aerial Robotic Systems Drones for Contact-Based Ultrasonic Wall Thickness UT Measurements at Height." In Offshore Technology Conference. OTC, 2021. http://dx.doi.org/10.4043/31196-ms.

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Abstract The use of aerial robotic systems that physically contact oil and gas structural assets to obtain measurement data in offshore and marine environments carries unique challenges and operational variables. The objectives of this paper are to demonstrate, with examples, how these aerial robotic systems afford safer, cheaper, and better nondestructive testing (NDT) measurement collection methodology and allow more robust insight into assets conditions than the slower, less safe, and more expensive manual method. To take NDT measurements such as Ultrasonic Wall Thickness (UT) Measurements at height, currently one needs to utilize a lift, ladders or other solutions to reach areas on certain assets. This can be both dangerous, due to the possibility of falls, and time consuming. Utilizing an aerial robotics platform for contact based (not visual) NDT measurements such as Ultrasonic Thickness (UT) allows workers to remain safely on the ground. Drones, with robotic arms, have the potential to improve inspection, testing and data collection. This paper explores an aerial robotic system that flies up to a structure with a metal sub-straight, then under full autonomous software control, touches a UT measurement probe to the target and records the measurement data compliant with American Petrolium Institute (API) and other standards. The use of aerial robotics systems for NDT is still a new and novel application utilizing existing technologies such as electronic measurement readers, drones, etc. with a system of complex integrations that allows for a better application of science. Aerial Robotic NDT systems have the potential to improve the inspection, testing and data collection aspects of coated and uncoated assets, in part, by making the NDT measurement process easier and safer thus allowing for more frequent measurements and/or a larger quantity of measurement samples. When possible, working at heights should be eliminated as part the hierarchy of fall protection stipulated by both OSHA and ANSI. For this reason alone, the use of aerial robotic systems is important now and in the immediate future Oil & Gas infrastructure, including Offshore. This paper intends to provide readers an awareness of this new technology as well as provide information about its efficacy, limitations and operational requirements.
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Reports on the topic "Marine Robotics Systems"

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Barbie, Alexander. ARCHES Digital Twin Framework. GEOMAR, December 2022. http://dx.doi.org/10.3289/sw_arches_core_1.0.0.

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In the Helmholtz Future Project ARCHES (Autonomous Robotic Networks to Help Modern Societies) with a consortium of partners from AWI (Alfred- Wegener-Institute Helmholtz Centre for Polar and Marine Research), DLR (German Aerospace Center), KIT (Karlsruhe Institute of Technology), and the GEOMAR (Helmholtz Centre for Ocean Research Kiel), several Digital Twins of ocean observation systems were developed by the GEOMAR and AWI. The ARCHES Digital Twin Framework is one of the results of this project. The software is based on the Robot Operating System (ROS) and is written in Python.
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