Academic literature on the topic 'Marine sensing and underwater robotics'
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Journal articles on the topic "Marine sensing and underwater robotics"
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Mazzeo, Angela, Jacopo Aguzzi, Marcello Calisti, Simonepietro Canese, Fabrizio Vecchi, Sergio Stefanni, and Marco Controzzi. "Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers." Sensors 22, no. 2 (January 14, 2022): 648. http://dx.doi.org/10.3390/s22020648.
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The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.
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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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Pinto, José, Maria Costa, Renato Mendes, Keila Lima, Paulo Dias, João Pereira, Manuel Ribeiro, et al. "Coordinated Robotic Exploration of Dynamic Open Ocean Phenomena." Field Robotics 2, no. 1 (March 10, 2022): 843–71. http://dx.doi.org/10.55417/fr.2022028.
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The study of dynamic features of the ocean, in which complex physical, chemical, and biological interactions evolve on multiple time scales, poses significant sampling challenges because the required spatial and temporal resolutions are not possible by ship or satellite studies alone. Satellite remote sensing captures only surface effects while expensive research vessels can only make discrete observations in finite periods of time. Our work with networked marine robotics in the aerial, surface, and underwater domains is at the vanguard of a new approach to scientific exploration and observation, which brings together several technologies to enable oceanographic vessels and robots to work in tandem, thus expanding the observational footprint of these vessels. We describe a scientific cruise in the Spring of 2018 in the open waters of the Pacific where we deployed a fleet of autonomous robots to demonstrate this approach for the synoptic observation of mesoscale and sub-mesoscale features of a frontal zone. We articulate the elements and methods to multi-vehicle coordination and challenges that lie ahead in ocean observation.
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Mattei, Gaia, Salvatore Troisi, Pietro Aucelli, Gerardo Pappone, Francesco Peluso, and Michele Stefanile. "Sensing the Submerged Landscape of Nisida Roman Harbour in the Gulf of Naples from Integrated Measurements on a USV." Water 10, no. 11 (November 19, 2018): 1686. http://dx.doi.org/10.3390/w10111686.
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This paper shows an interesting case of coastal landscape reconstruction by using innovative marine robotic instrumentation, applied to an archaeological key-site in the Campi Flegrei (Italy), one of the more inhabited areas in the Mediterranean during the Roman period. This active volcanic area is world famous for the ancient coastal cities of Baiae, Puteoli, and Misenum, places of military and commercial excellence. The multidisciplinary study of the submerged Roman harbour at Nisida Island was aimed at reconstructing the natural and anthropogenic underwater landscape by elaborating a multiscale dataset. The integrated marine surveys were carried out by an Unmanned Surface Vehicle (USV) foreseeing the simultaneous use of geophysical and photogrammetric sensors according to the modern philosophy of multi-modal mapping. All instrumental measurements were validated by on-site measurements performed by specialised scuba divers. The multiscale analysis of the sensing data allowed a precise reconstruction of the coastal morpho-evolutive trend and the relative sea level variation in the last 2000 years by means of a new type of archaeological sea-level marker here proposed for the first time. Furthermore, it provided a detailed multidimensional documentation of the underwater cultural heritage and a useful tool for evaluating the conservation state of archaeological submerged structures.
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Ishii, Kazuo, Eiji Hayashi, Norhisam Bin Misron, and Blair Thornton. "Special Issue on Advanced Robotics in Agriculture, Forestry and Fisheries." Journal of Robotics and Mechatronics 30, no. 2 (April 20, 2018): 163–64. http://dx.doi.org/10.20965/jrm.2018.p0163.
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The importance of primary industries, agriculture, forestry and fisheries, is obvious and needless to mention, however, the reduction of the working population and the aging problem make the situation of primary industry more sever. To compensate for the issues, the advanced technology in robotics has attracted attentions and expected the contributions in terms of productivity, cost effectiveness, pesticide-less, monitoring of the growth and harvesting, etc. Recently, robotic technologies are gradually being used in primary industry and their application area will expand more in the near future. This special issue’s objectives include collecting recent advances, automation, mechanization, research trends and their applications in agriculture, forestry and fisheries to promote a deeper understanding of major conceptual and technical challenges and facilitate spreading of recent breakthroughs in primary industries, and contribute to the enhancement of the quality of agricultural, forestry and fisheries robots by introducing the state-of-the-art in sensing, mobility, manipulation and related technologies. In this special issue, twelve papers are included. The first paper by Noguchi is the survey paper of the state-of-the-art in the agricultural vehicle type robots and discusses the future scope of agriculture with robotics. The next three papers are on tomato-monitoring system, and Fukui et al. propose a tomato fruit volume estimation method using saliency-based image processing and point cloud and clustering technology, Yoshida et al. do the cutting point identification for tomato-harvesting using a RGBD sensor and evaluate in the real farm experiments, and Fujinaga et al. present an image mosaicking method of tomato yard based on the infrared images and color images of tomato-clusters in the large green house. The fifth paper by Sori et al. reports a paddy weeding robot in wet-rice field to realize the pesticide-free produce of rice, and the sixth paper by Shigeta et al. is about an image processing system to measure cow’s BCS (Body Condition Score) automatically before milking cows and analyzes the two months data by CNN (Convolutional Neural Network). The seventh paper by Inoue et al. reports on an upper-limb power assist robot with a single actuator to reduce the weight and cost. The assist machine supports the shoulder and elbow movements for viticulture operations and upper-limb holding for load transport tasks. In the next paper, Tominaga et al. show an autonomous robotic system to move between the trees without damaging them and to cut the weeds in the forest for the forest industry. The last four papers are for the fishery industry, and Komeyama et al. propose a methods for monitoring the size of fish, red sea bream (RSB) aquaculture by developing a stereo vision system to avoid the risks of physical injury and mental stress to the fish. Nishida et al. report on a hovering type underwater robot to measure seafloor for monitoring marine resources whose sensor can be replaced depending on missions as the open hardware system. Yasukawa et al. propose a vision system for an autonomous underwater robot with a benthos sampling function, especially, sampling-autonomous underwater vehicles (SAUVs) to achieve a new sampling mission. The last paper by Han et al. is for gait planning and simulation analysis of an amphibious quadruped robot in the field of fisheries and aquaculture. We hope that this special issue can contributes to find solutions in primary industries, agriculture, forestry and fisheries.
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Sayed, Mohammed, Markus Nemitz, Simona Aracri, Alistair McConnell, Ross McKenzie, and Adam Stokes. "The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub." Sensors 18, no. 10 (October 16, 2018): 3487. http://dx.doi.org/10.3390/s18103487.
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The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair, and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new multi-sensing platform, the Limpet, which is designed to be low-cost and highly manufacturable, and thus can be deployed in huge collectives for monitoring offshore platforms. The Limpet can be considered an instrument, where in abstract terms, an instrument is a device that transforms a physical variable of interest (measurand) into a form that is suitable for recording (measurement). The Limpet is designed to be part of the ORCA (Offshore Robotics for Certification of Assets) Hub System, which consists of the offshore assets and all the robots (Underwater Autonomous Vehicles, drones, mobile legged robots etc.) interacting with them. The Limpet comprises the sensing aspect of the ORCA Hub System. We integrated the Limpet with Robot Operating System (ROS), which allows it to interact with other robots in the ORCA Hub System. In this work, we demonstrate how the Limpet can be used to achieve real-time condition monitoring for offshore structures, by combining remote sensing with signal-processing techniques. We show an example of this approach for monitoring offshore wind turbines, by designing an experimental setup to mimic a wind turbine using a stepper motor and custom-designed acrylic fan blades. We use the distance sensor, which is a Time-of-Flight sensor, to achieve the monitoring process. We use two different approaches for the condition monitoring process: offline and online classification. We tested the offline classification approach using two different communication techniques: serial and Wi-Fi. We performed the online classification approach using two different communication techniques: LoRa and optical. We train our classifier offline and transfer its parameters to the Limpet for online classification. We simulated and classified four different faults in the operation of wind turbines. We tailored a data processing procedure for the gathered data and trained the Limpet to distinguish among each of the functioning states. The results show successful classification using the online approach, where the processing and analysis of the data is done on-board by the microcontroller. By using online classification, we reduce the information density of our transmissions, which allows us to substitute short-range high-bandwidth communication systems with low-bandwidth long-range communication systems. This work shines light on how robots can perform on-board signal processing and analysis to gain multi-functional sensing capabilities, improve their communication requirements, and monitor the structural health of equipment.
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Breier, John A., Michael V. Jakuba, Mak A. Saito, Gregory J. Dick, Sharon L. Grim, Eric W. Chan, Matthew R. McIlvin, et al. "Revealing ocean-scale biochemical structure with a deep-diving vertical profiling autonomous vehicle." Science Robotics 5, no. 48 (November 25, 2020): eabc7104. http://dx.doi.org/10.1126/scirobotics.abc7104.
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Vast and diverse microbial communities exist within the ocean. To better understand the global influence of these microorganisms on Earth’s climate, we developed a robot capable of sampling dissolved and particulate seawater biochemistry across ocean basins while still capturing the fine-scale biogeochemical processes therein. Carbon and other nutrients are acquired and released by marine microorganisms as they build and break down organic matter. The scale of the ocean makes these processes globally relevant and, at the same time, challenging to fully characterize. Microbial community composition and ocean biochemistry vary across multiple physical scales up to that of the ocean basins. Other autonomous underwater vehicles are optimized for moving continuously and, primarily, horizontally through the ocean. In contrast, Clio, the robot that we describe, is designed to efficiently and precisely move vertically through the ocean, drift laterally in a Lagrangian manner to better observe water masses, and integrate with research vessel operations to map large horizontal scales to a depth of 6000 meters. We present results that show how Clio conducts high-resolution sensor surveys and sample return missions, including a mapping of 1144 kilometers of the Sargasso Sea to a depth of 1000 meters. We further show how the samples obtain filtered biomass from seawater that enable genomic and proteomic measurements not possible through in situ sensing. These results demonstrate a robotic oceanography approach for global-scale surveys of ocean biochemistry.
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Burguera, Antoni, and Francisco Bonin-Font. "Advances in Autonomous Underwater Robotics Based on Machine Learning." Journal of Marine Science and Engineering 10, no. 10 (October 12, 2022): 1481. http://dx.doi.org/10.3390/jmse10101481.
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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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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.
Dissertations / Theses on the topic "Marine sensing and underwater robotics"
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Leborne, François. "Contributions à la commande de bras manipulateurs de robot sous-marin pour la manipulation à grande profondeur d'échantillons biologiques déformables." Thesis, Montpellier, 2018. http://www.theses.fr/2018MONTS044/document.
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Dans le cadre de la collecte sous-marine d'échantillons biologiques et minéraux pour la recherche scientifique par un robot sous-marin équipé de bras manipulateurs, ce projet de thèse a pour but principal le développement de nouvelles techniques de manipulation des échantillons, plus fiables, permettant d'en assurer l'intégrité physique et leur exploitabilité par les chercheurs. Les nouvelles techniques de manipulation proposées prennent en compte l'actionnement particulier des nouveaux bras électriques sous-marins équipant les engins récents, afin d'augmenter la précision du positionnement des outils embarqués par le manipulateur. Un outil amovible, compliant, et mesurant les efforts d'interaction entre les bras du sous-marin et leur environnement est aussi proposé, et des méthodes permettant de tirer partie des caractéristiques de cet outil sont développées et testées expérimentalement. L'engin sous-marin hybride HROV Ariane, équipé de deux bras électriques hétérogènes, offre la plateforme opérationnelle pour la validation expérimentale des solutions proposéesThe research carried out in the scope of this doctorate degree aims to develop innovative techniques to improve the collection of biological and mineral samples underwater using robotic manipulators. The end goal is to enhance the handling by robotic means in order to maximise sample quality provided to marine scientists. The proposed techniques are based on an in-depth analysis of the robotic arm actuators used in most recent underwater intervention vehicles, in order to improve the accuracy of the positionning of the tools held by the manipulator arms. An instrumented tool has also been developed with the aim to measure the reaction forces and adapt the interaction between the arm's end-effector and its environment to improve samples handling. These methods and the other contributions described in this thesis have been experimentally validated using Ifremer's hybrid-ROV Ariane equipped with two electrically actuated heterogeneous robotic arms
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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 perturbationsUnderwater 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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Muzi, Lanfranco. "Advances in Autonomous-Underwater-Vehicle Based Passive Bottom-Loss Estimation by Processing of Marine Ambient Noise." PDXScholar, 2015. https://pdxscholar.library.pdx.edu/open_access_etds/2612.
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Accurate modeling of acoustic propagation in the ocean waveguide is important to SONAR-performance prediction, and requires, particularly in shallow water environments, characterizing the bottom reflection loss with a precision that databank-based modeling cannot achieve. Recent advances in the technology of autonomous underwater vehicles (AUV) make it possible to envision a survey system for seabed characterization composed of a short array mounted on a small AUV. The bottom power reflection coefficient (and the related reflection loss) can be estimated passively by beamforming the naturally occurring marine ambient-noise acoustic field recorded by a vertical line array of hydrophones. However, the reduced array lengths required by small AUV deployment can hinder the process, due to the inherently poor angular resolution. In this dissertation, original data-processing techniques are presented which, by introducing into the processing chain knowledge derived from physics, can improve the performance of short arrays in this particular task. Particularly, the analysis of a model of the ambient-noise spatial coherence function leads to the development of a new proof of the result at the basis of the bottom reflection-loss estimation technique. The proof highlights some shortcomings inherent in the beamforming operation so far used in this technique. A different algorithm is then proposed, which removes the problem achieving improved performance. Furthermore, another technique is presented that uses data from higher frequencies to estimate the noise spatial coherence function at a lower frequency, for sensor spacing values beyond the physical length of the array. By "synthesizing" a longer array, the angular resolution of the bottom-loss estimate can be improved, often making use of data at frequencies above the array design frequency, otherwise not utilized for beamforming. The proposed algorithms are demonstrated both in simulation and on real data acquired during several experimental campaigns.
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Ferrera, Maxime. "Monocular Visual-Inertial-Pressure fusion for Underwater localization and 3D mapping." Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS089.
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Cette thèse aborde le problème de la localisation et cartographie 3D sous-marine en temps-réel. Dans le domaine de l'archéologie sous-marine, des véhicules téléopérés (ROV – Remotely Operated Vehicle) sont utilisés pour étudier les sites. La localisation et la cartographie précises en temps-réel sont des informations essentielles pour le pilotage manuel ou automatique de ces engins. Bien que plusieurs solutions de localisation existent, la plupart d'entre elles reposent sur l'utilisation de capteurs tels que les lochs Doppler (DVL – Doppler Velocity Log) ou les centrales inertielles à gyroscopes à fibre optique,qui sont très coûteux et peuvent être trop volumineux ou trop lourds pour les ROVs les plus petits. Les systèmes de positionnement acoustique sont également fréquemment utilisés en complément des systèmes précédents, mais leur fréquence d’échantillonnage et leur précision sont limitées.Dans cette thèse, nous étudions l'utilisation de capteurs à faible coût pour la localisation sous-marine.Notre étude porte sur l'utilisation d'une caméra monoculaire, d'un capteur de pression et d'une centrale inertielle MEMS (Micro ElectroMechanical System) à faible coût comme seul moyen de localisation et de cartographie en contexte archéologique sous-marin.Nous avons mené une évaluation de différentes méthodes de suivi de point d'intérêts sur des images affectées par des perturbations typiques rencontrées dans un contexte sous-marin. À partir des résultats obtenus nous avons développé une méthode monoculaire de SLAM (Simultaneous Localization and Mapping) robuste aux perturbations spécifiques de l’environnement sous-marin. Ensuite, nous proposons une extension de cette méthode pour intégrer étroitement les mesures du capteur de pression etde la centrale inertielle dans l’algorithme de SLAM. La méthode finale fournit une localisation très précise et s'exécute en temps-réel. En outre, un module de reconstruction 3D dense, en ligne, compatible avec une configuration monoculaire, est également proposé. Deux prototypes compacts et légers de ce système nt été conçus et utilisés pour enregistrer des jeux de données qui ont été publiés. En outre, ces prototypes ont été utilisés avec succès pour tester et valider en conditions réelles les algorithmes de localisation et de cartographie proposésThis thesis addresses the problem of real-time 3D localization and mapping in underwater environments.In the underwater archaeology field, Remotely Operated Vehicles (ROVs) are used to conduct deep-seasurveys and excavations. Providing both accurate localization and mapping information in real-time iscrucial for manual or automated piloting of the robots. While many localization solutions already existfor underwater robots, most of them rely on very accurate sensors, such as Doppler velocity logs or fiberoptic gyroscopes, which are very expensive and may be too bulky for small ROVs. Acoustic positioningsystems are also commonly used for underwater positioning, but they provide low frequencymeasurements, with limited accuracy.In this thesis, we study the use of low-cost sensors for accurate underwater localization. Our studyinvestigates the use of a monocular camera, a pressure sensor and a low-cost MEMS-IMU as the onlymeans of performing localization and mapping in the context of underwater archaeology.We have conducted an evaluation of different features tracking methods on images affected by typicaldisturbances met in an underwater context. From the results obtained with this evaluation, we havedeveloped a monocular Visual SLAM (Simultaneous Localization and Mapping) method, robust to thespecific disturbances of underwater environments. Then, we propose an extension of this method totightly integrate the measurements of a pressure sensor and an IMU in the SLAM algorithm. The finalmethod provides a very accurate localization and runs in real-time. In addition, an online dense 3Dreconstruction module, compliant with a monocular setup, is also proposed. Two lightweight and compactprototypes of this system have been designed and used to record datasets that have been publiclyreleased. Furthermore, these prototypes have been successfully used to test and validate the proposedlocalization and mapping algorithms in real-case scenarios
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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 hétérogènesUnderwater 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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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 prototypeThe 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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Vega, Emanuel Pablo. "Conception orientée-tâche et optimisation de systèmes de propulsion reconfigurables pour robots sous-marins autonomes." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0067/document.
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Dans ce travail, l’optimisation de la propulsion et de la commande des AUV (Autonomous Underwater Vehicles en anglais) est développée. Le modèle hydrodynamique de l’AUV est examiné. Egalement, son système de propulsion est étudié et des modèles pour des solutions de propulsion différentes (fixe et vectorielle) sont développés dans le cadre de la mobilité autonome.Le modèle et l’identification de la technologie de propulsion dite fixe sont basés sur un propulseur disponible commercialement. Le système de propulsion vectoriel est basé sur un prototype de propulseur magneto-couplé reconfigurable (PMCR) développé à l’IRDL-ENIB.Une méthode de commande non linéaire utilisant le modèle hydrodynamique de l’AUV est développée et son adaptation à deux systèmes de propulsion est présentée. Des analyses portant sur la commandabilité du robot et l’application de cette commande à différents systèmes sont proposées. L’optimisation globale est utilisée pour trouver des topologies propulsives et des paramètres de commande adaptés à la réalisation de tâches robotiques spécifiques. L’optimisation réalisée permet de trouver des solutions capables d’assurer le suivi de trajectoire et de minimiser la consommation énergétique du robot. L’optimisation utilise un algorithme génétique (algorithme évolutionnaire), une méthode d’optimisation stochastique appliquée ici à la conception orientée tâche de l’AUV. Les résultats de cette optimisation peuvent être utilisés comme une étape préliminaire dans la conception des AUVs, afin de donner des pistes pour améliorer les capacités de la propulsion.La technique d’optimisation est également appliquée au robot RSM (fabriqué au sein de l’IRDL-ENIB) en modifiant seulement quelques paramètres de sa topologie propulsive. Cela afin d’obtenir des configurations de propulsion adaptées au cours d’une seule et même mission aux spécificités locomotrices des tâches rencontrées : reconfiguration dynamique de la propulsion de l’AUVIn this PhD thesis, the optimization of the propulsion and control of AUVs is developed. The hydrodynamic model of the AUVs is examined. Additionally, AUV propulsion topologies are studied and models for fixed and vectorial technology are developed. The fixed technology model is based on an off the shelf device, while the modeled vectorial propulsive system is based on a magnetic coupling thruster prototype developed in IRDL (Institut de Recherche Dupuy de Lôme) at ENI Brest. A control method using the hydrodynamic model is studied, its adaptation to two AUV topologies is presented and considerations about its applicability will be discussed. The optimization is used to find suitable propulsive topologies and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used for task-based design.The results of the optimization can be used as a preliminary stage in the design process of an AUV, giving ideas for enhanced propulsive configurations. The optimization technique is also applied to an IRDL existing robot, modifying only some of the propulsive topology parameters in order to readily adapt it to different tasks, making the AUV dynamically reconfigurable
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Lasbouygues, Adrien. "Exploration robotique de l’environnement aquatique : les modèles au coeur du contrôle." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS078/document.
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Les robots sous-marins peuvent aujourd'hui évoluer dans des environnements complexes difficilement accessibles à l'Homme pour des raisons de coût ou de sécurité. Ils peuvent donc intervenir dans une grande variété de missions en environnement aquatique. Or, la complexité de ces milieux impose de doter le vecteur robotique d'une autonomie opérationnelle suffisante afin qu'il puisse mener sa mission à bien tout en préservant son intégrité. Cela nécessite de développer des lois de commande répondant aux spécificités de l'application. Ces lois de commande se basent sur des connaissances provenant de différentes disciplines scientifiques ce qui souligne l'interdisciplinarité inhérente à la robotique. Une fois la loi de commande développée, il faut implémenter le contrôleur sur le robot sous forme de logiciel de contrôle basé sur une architecture logicielle temps-réel.Or la conception actuelle des lois de commande, sous forme de blocs "monolithiques", rend difficile l'évolution d'une loi de commande d'une application à l'autre, l'intégration de connaissances provenant d'autres disciplines scientifiques que ne maitrisent pas forcément les automaticiens et pénalisent son implémentation sur des architectures logicielles qui nécessitent la modularité. Pour résoudre ces problèmes nous cherchons à proprement séparer les différentes connaissances afin que chacune soit aisément manipulable, son rôle clair et que les relations établies entre les différentes connaissances soient explicites. Cela permettra en outre une projection plus efficace sur l'architecture logicielle. Nous proposons donc un nouveau formalisme de description des lois de commande selon une composition modulaire d'entités de base appelées Atomes et qui encapsulent les différents éléments de connaissance. Nous nous intéressons également à l'établissement d'une meilleure synergie entre les aspects automatique et génie logiciel qui se construit autour de préoccupations communes telles que les contraintes temporelles et la stabilité. Pour cela, nous enrichissons nos Atomes de contraintes chargées de véhiculer les informations relatives à ces aspects temporels. Nous proposons également une méthodologie basée sur notre formalisme afin de guider l'implémentation de nos stratégies de commande sur un Middleware temps-réel, dans notre cas le Middleware ContrACT développé au LIRMM.Nous illustrons notre approche par diverses fonctionnalités devant être mises en oeuvre lors de missions d'exploration de l'environnement aquatique et notamment pour l'évitement de parois lors de l'exploration d'un aquifère karstiqueUnderwater robots can nowadays operate in complex environments in a broad scope of missions where the use of human divers is difficult for cost or safety reasons. However the complexity of aquatic environments requires to give the robotic vector an autonomy sufficient to perform its mission while preserving its integrity. This requires to design control laws according to application requirements. They are built on knowledge from several scientific fields, underlining the interdisciplinarity inherent to robotics. Once the control law designed, it must be implemented as a control Software working on a real-time Software architecture.Nonetheless the current conception of control laws, as "monolithic" blocks, makes difficult the adaptation of a control from an application to another and the integration of knowledge from various scientific fields which are often not fully understood by control engineers. It also penalizes the implementation of control on Software architectures, at least its modularity and evolution. To solve those problems we seek a proper separation of knowledge so that each knowledge item can be easily used, its role precisely defined and we want to reify the interactions between them. Moreover this will allow us a more efficient projection on the Software architecture. We thus propose a new formalism for control laws description as a modular composition of basic entities named Atoms used to encapsulate the knowledge items.We also aim at building a better synergy between control and software engineering based on shared concerns such as temporal constraints and stability. Hence we extend the definition of our Atoms with constraints carrying information related to their temporal behaviour. We propose as well a methodology relying on our formalism to guide the implementation of control on a real-time Middleware. We will focus on the ContrACT Middleware developed at LIRMM.Finally we illustrate our approach on several robotic functionalities that can be used during aquatic environments exploration and especially for wall avoidance during the exploration of a karst aquifer
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Lanneau, Sylvain. "Localisation et estimation basées modèle d’un objet ellipsoidal avec le sens électrique artificiel." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2017. http://www.theses.fr/2017IMTA0030/document.
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Le but de cette thèse est de contribuer à la perception sous-marine pour des applications de robotique grâce à un champ électrique. Nous proposons de nouvelles méthodes pour l’inspection, la localisation et l’estimation de forme d’un objet ellipsoïdal en utilisant un capteur inspiré des poissons faiblement électriques. Premièrement, nous montrons que l’objet peut être détecté et que son matériau et sa position par rapport à l’axe du capteur peuvent être discriminés en utilisant de simples détections de seuils sur les courants mesurés. Ensuite, nous proposons l’implémentation successive de trois lois de contrôle réactives permettant au capteur de se diriger vers l’objet et d’effectuer une révolution autour de celui-ci en suivant ses frontières. Puis, nous utilisons l’algorithme MUSIC afin de localiser le centre de l’objet. Enfin, les paramètres géométriques de l’objet et son orientation sont estimés grâce à une méthode d’optimisation basée sur les moindres carrés et sur l’inversion du modèle analytique du tenseur de polarisation d’un objet ellipsoïdal. Nous montrons que ces algorithmes fonctionnent en conditions expérimentales. Pour les algorithmes de localisation et d’estimation de forme, des techniques impliquant des déplacements du capteur sont proposées, afin de réduire significativement les imprécisions dues aux écarts entre le modèle et les mesures de courantThe aim of this thesis is to contribute to the underwater perception for robotics applications using an electric field. We propose new methods for the inspection, the localization and the shape estimation of an ellipsoidal object using a sensor inspired by the weakly electric fish. Firstly, we show that the object can be detected and its material and position relative to the sensor axis discriminated, using simple threshold detections on the measured currents. Then, we propose the successive implementations of three reactive control laws allowing the sensor to head for the object and revolve around it by following its boundaries. After that, we use the MUSIC algorithm in order to localize the object’s center. Finally, the geometrical parameters of the object and its orientation are estimated thanks to an optimization algorithm based on the least squares method and the inversion of the analytical model of the polarization tensor of an ellipsoidal object. We show that these algorithms can be experimentally implemented. For the localization and the shape estimation algorithms, some additional techniques involving sensor movements are proposed in order to significantly reduce the imprecisions due to the gap between the model and the actual currents’ measurements
Books on the topic "Marine sensing and underwater robotics"
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Gelin, Chrystel. A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.
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Gelin, Chrystel. A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-32015-6.
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United States. Congress. House. Committee on Merchant Marine and Fisheries. Subcommittee on Oceanography and the Great Lakes. Technological advancements in underwater research: Hearing before the Subcommittee on Oceanography and Great Lakes of the Committee on Merchant Marine and Fisheries, House of Representatives, One Hundred First Congress, first session ... April 13, 1989. Washington: U.S. G.P.O., 1989.
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United States. Congress. House. Committee on Merchant Marine and Fisheries. Subcommittee on Oceanography and the Great Lakes. Technological advancements in underwater research: Hearing before the Subcommittee on Oceanography and Great Lakes of the Committee on Merchant Marine and Fisheries, House of Representatives, One Hundred First Congress, first session ... April 13, 1989. Washington: U.S. G.P.O., 1989.
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Lakes, United States Congress House Committee on Merchant Marine and Fisheries Subcommittee on Oceanography and the Great. Technological advancements in underwater research: Hearing before the Subcommittee on Oceanography and Great Lakes of the Committee on Merchant Marine and Fisheries, House of Representatives, One Hundred First Congress, first session ... April 13, 1989. Washington: U.S. G.P.O., 1989.
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Boyer, Frédéric, and Vincent Lebastard. Electric sensing for underwater navigation. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0019.
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Underwater navigation in turbid water for exploration in catastrophic conditions or navigation in confined unstructured environments is still a challenge for robotics. In these conditions, neither vision nor sonar can be used. Pursuing a bio-inspired approach in robotics, one can seek solutions in nature to solve this difficult problem. Several hundred fish species in families Gymnotidae and Mormyridae have developed an original sense well adapted to this situation: the electric sense. Gnathonemus petersii first polarizes its body with respect to an electric organ discharge located at the base of its tail and generates a dipolar electric field in its near surroundings. Then, using many transcutaneous electro-receptors distributed along its body, the fish “measures” the distortion of the electric field and infers an image of its surroundings. Understanding and implementing this bio-inspired sense offers the opportunity to enhance the navigation abilities of our underwater robots in confined spaces bathed by turbid waters.
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Xie, Guangming, and Xingwen Zheng. Bionic Sensing with Artificial Lateral Line Systems for Fish-Like Underwater Robots. Taylor & Francis Group, 2022.
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Xie, Guangming, and Xingwen Zheng. Bionic Sensing with Artificial Lateral Line Systems for Fish-Like Underwater Robots. Taylor & Francis Group, 2022.
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Xie, Guangming, and Xingwen Zheng. Bionic Sensing with Artificial Lateral Line Systems for Fish-Like Underwater Robots. Taylor & Francis Group, 2022.
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A Highrate Virtual Instrument Of Marine Vehicle Motions For Underwater Navigation And Ocean Remote Sensing. Springer, 2012.
Find full textBook chapters on the topic "Marine sensing and underwater robotics"
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Stewart, W. Kenneth. "Three-Dimensional Stochastic Modeling Using Sonar Sensing for Undersea Robotics." In Underwater Robots, 47–69. Boston, MA: Springer US, 1996. http://dx.doi.org/10.1007/978-1-4613-1419-6_3.
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Chocron, O., E. P. Vega, and M. Benbouzid. "Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance." In Marine Robotics and Applications, 137–78. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70724-2_9.
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Manzanilla, Adrian, Miguel Garcia, Rogelio Lozano, and Sergio Salazar. "Design and Control of an Autonomous Underwater Vehicle (AUV-UMI)." In Marine Robotics and Applications, 87–100. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70724-2_6.
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Kanhere, Elgar. "Bio-inspired Underwater Active and Passive Sensing." In Biomimetic Microsensors Inspired by Marine Life, 53–75. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-47500-4_3.
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Bazeille, Stéphane, Vincent Lebastard, and Frédéric Boyer. "Underwater Robots Equipped with Artificial Electric Sense for the Exploration of Unconventional Aquatic Niches." In Marine Robotics and Applications, 29–50. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70724-2_3.
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Nicola, Jérémy, and Luc Jaulin. "Comparison of Kalman and Interval Approaches for the Simultaneous Localization and Mapping of an Underwater Vehicle." In Marine Robotics and Applications, 117–36. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70724-2_8.
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Rooney, Thomas, A. G. Pipe, Sanja Dogramadzi, and Martin J. Pearson. "Towards Tactile Sensing Applied to Underwater Autonomous Vehicles for Near Shore Survey and De-mining." In Advances in Autonomous Robotics, 463–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-32527-4_60.
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Lo, Chiao-Yueh, Yusen Zhao, Yanfei Ma, Shuwang Wu, Yousif Alsaid, Matthew M. Peet, Rebecca E. Fisher, et al. "Bioinspired Sensors and Actuators Based on Stimuli-Responsive Hydrogels for Underwater Soft Robotics." In Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems, 99–115. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50476-2_5.
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Minaian, Nazanin, Zakai J. Olsen, and Kwang J. Kim. "Ionic Polymer-Metal Composite (IPMC) Artificial Muscles in Underwater Environments: Review of Actuation, Sensing, Controls, and Applications to Soft Robotics." In Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems, 117–39. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50476-2_6.
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Gelin, Chrystel. "Introduction." In A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing, 1–6. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-32015-6_1.
Full textConference papers on the topic "Marine sensing and underwater robotics"
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Yamamoto, Ikuo, Tomokazu Nakamura, and Hidemasa Hanahara. "Development of Biomimetic Underwater Vehicle for Offshore Investigation." In ASME 2011 30th International Conference on Ocean, Offshore and Arctic Engineering. ASMEDC, 2011. http://dx.doi.org/10.1115/omae2011-49787.
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The authors envisages a marine system network based on AUVs, offshore vessels, and air-crafts for realize sustainable development of the ocean. Then, a biomimetic underwater vehicle is expected to collect oceanographic data and water samples even in the complicated geographic area. The authors design and develop a flapping wing type underwater vehicle with flexible tail fin as a new biomimetic underwater vehicle. The flapping wing consists of multi-joints mechanism to get lift force and rotation moment for high maneuvering characteristics of motion. The tail fin is designed by elastic oscillating theory and developed to produce strong propulsion force for high speed maneuvering. In addition, a trim balance mechanism is designed to get the trim of pitch motion. The developed biomimetic underwater vehicle has higher maneuverability by strong lift force of flapping wing and propulsion force of tail fin. Also, the underwater vehicle can cruise quietly and avoid twining by seaweeds. The paper firstly introduces the next generation marine systems network concept. Then, it focuses on biomimetic underwater vehicles for mineral resource sensing and acquisition including the history of robotic fish development. Finally, it describes design method, numerical simulation, and tank test of the underwater vehicle with flapping main wing and elastic oscillating tail fin.
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Castaño, Maria L., and Xiaobo Tan. "Model Predictive Control of a Tail-Actuated Robotic Fish." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9918.
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The increase of potential threats to the integrity of our aquatic ecosystems has caused global concerns which have led to interest in the use autonomous aquatic robots to monitor such environments. In recent years, underwater robots that propel and maneuver themselves like real fish, often called robotic fish, have emerged as mobile sensing platforms for freshwater and marine environments. These robots achieve locomotion via actively controlled fins, and actuation is often achieved via oscillatory inputs. Given these types of applications, accuracy and energy-saving in trajectory control is of importance for mission successes. In this work, we propose a nonlinear model predictive control (NMPC) approach to path following of a tail-actuated robotic fish. In this design, we use bias and amplitude of the tail-beat as the input to be determined by the NMPC. The effectiveness of the proposed approach is demonstrated via simulation.
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Sawa, Takao, Takafumi Kasaya, Tadahiro Hyakudome, and Hiroshi Yoshida. "Natural Resource Exploration With Sonar on Underwater Vehicle." In ASME 2012 31st International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/omae2012-83819.
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Occurring as a set of 17 chemical elements in the periodic table, rare earth elements such as neodymium are necessary for the development of mobile phones and magnet motors. Although securing rare earth elements is essential for economic growth of all nations, their demand is rapidly expanding among global powers such as Brazil, Russia, India, and China. Rare earth element deposits were discovered in the seafloor near hydrothermal vents in the 1980s. Japan has the sixth largest exclusive economic zone (EEZ) and is abundant in underwater natural resources such as a cobalt and a manganese mine. Because underwater exploration of rare earth elements was deemed unprofitable, the practice was suspended. Current advancements in underwater robotics, however, have led to economic viability in this venture. Such developments have resulted in the increased use of remote sensing with sonars on unmanned underwater vehicles. The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) developed a cruising autonomous underwater vehicle (AUV) known as Urashima. This AUV performed its first sea trial in 2000, and cruise for 317 km without recharging or refueling in 2005 as a world record at the time. The first mission of Urashima was a vast sea exploration to investigate worldwide environmental crises such as global warming. However, the purpose of these missions has since then shifted primarily to the exploration of underwater natural resources. In addition, JAMSTEC developed a synthetic aperture sonar on a neutral buoyancy towfish in 2010. This underwater exploration system, known as Kyouryuu, scanned Wakamiko caldera at the sea bottom in Kagoshima Bay where volcanic activity was evident. Numerous hot-water flows from hydrothermal vents were clearly recorded. In addition, many dormant chimneys were detected. These features provide important data for estimating the distribution of hydrothermal vents and chimneys in addition to their transitions.
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Luo, Jing, You Wang, Zhao Xinyu, and Jiatai Zhang. "A new conceptual design for subsea charging station." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002516.
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With deepening ocean development , a larger scale Internet of Underwater Things (IoUT) is being realized[1].More and more underwater equipment is being deployed, various ocean monitoring equipment, underwater robots and underwater group sites amongst others, all of which will be working in the deep sea for long periods of time in the foreseeable future[2].Due to the increasing working time and power consumption, it has become difficult for the high energy batteries carried by these facilities to cover their energy needs [3]. Therefore, it is necessary to solve the problem of electrical energy replenishment for underwater equipment.Based on Equinor’s Underwater Intervention Drone (UID) standard interface definition, Blue Logic have produced the world's first three universal, open-standard subsea drone docking stations.But this is not perfect, in the face of deeper waters, more complex multi-shape deep sea equipment charging needs, the current program is not enough to solve[4].Therefore, based on the IoUT scenario positioning, this research designs a subsea charging station that can serve multiple devices.The concept is similar to a land-based collection station for power banks, providing multiple sub-charging equipment that can be carried on the move to charge multiple subsea equipments of different types simultaneously.It also uses ocean energy to provide in-situ produced electricity for the underwater charging base station .Compared to Blue Logic's Subsea Drone Docking Station (SDS), it enables the multi-device charging needs of the IoUT using ultrasonic technology[5,6].In the long term, the combination of existing equipment will greatly reduce the cost of regional subsea long-term exploration and expand the scope of exploration[7].The paper will solve the following problems:1) How to solve the charging problem of long-distance survey of underwater equipments（e.g. AUV）?2) How to make the design applicable to charging usage scenarios common to different types, forms and sizes of underwater equipments?3) How to design underwater charging energy transmission more efficiently and sustainably?The research approach composed following parts:- Through literature research, sort out the development status of technical equipment such as underwater charging, underwater docking, underwater information transmission and marine power generation.- A structure interview with the opinions of deep-sea equipment designers and researchers to clarify the design requirements. - Analyze product features and problems and summarize the design process and direction through brainstorming method and solution building method.The design of the underwater multi-port charging base station solves the energy problem of deep-sea long-term survey equipment, with poor energy sustainability and low charging efficiency.This approach will enable true continuous subsea operations in extremely dynamic ocean environments.Although the project is still a conceptual design and various sensors are still being experimented with, it is forward-looking and instructive for future applications.References1.Wang X., Lu J., Peng W., &Song L.,(2021) Accelerating the construction of marine "new infrastructure" and promoting high-quality development of marine industry,Science & Technology Review,39(16),pp.76-80.2.Qu, Feng-Chong, Lai. , Liu, J.-Z., Tu, X.-B., Jiang, Y.,(2021)'Research and Application of Key Technologies for Marine Internet of Things', Telecommunications Science, 37, (7), pp. 25-33.3.Tian Y., Yuan R.,&Li X.,(2018)'Design and experiment of deep-sea microcurrent power generation system', Acta Energiae Solaris Sinica,Journal of China Academy of Electronics and Information Technology, 39, (4), pp. 873-878.4.SubseaDockingStation(SDS).[Online].Available:https://www.bluelogic.no/news-and-media/subsea-docking-station-sds-.5.Abicht, D., Torvestad, J.C., Solheimsnes, P.A., and Stenevik, K.A., ‘Underwater Intervention Drone Subsea Control System’, in Proceedings of the OTC, 2020.6.Wang Y., &Tian F.,(2019)'Research on acoustic wave-based charging planning in underwater sensing networks',Journal of China Academy of Electronics and Information Technology,14(11),pp.1183-11877.Cruz, N.A., Matos, A.C., Almeida, R.M., and Ferreira, B.M.: ‘A lightweight docking station for a hovering AUV’, in Proceedings of the IEEE, 2017, pp. 1-7.
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Claus, Brian, James Kinsey, and Yogesh Girdhar. "Towards persistent cooperative marine robotics." In 2016 IEEE/OES Autonomous Underwater Vehicles (AUV). IEEE, 2016. http://dx.doi.org/10.1109/auv.2016.7778706.
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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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Chantler, M. J. "Probabilistic sensing for underwater robotics." In Second International Conference on `Intelligent Systems Engineering'. IEE, 1994. http://dx.doi.org/10.1049/cp:19940647.
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Valdenegro-Toro, Matias. "Submerged marine debris detection with autonomous underwater vehicles." In 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA). IEEE, 2016. http://dx.doi.org/10.1109/raha.2016.7931907.
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Belkin, Igor, Joao Borges de Sousa, Jose Pinto, Renato Mendes, and Francisco Lopez-Castejon. "Marine robotics exploration of a large-scale open-ocean front." In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729725.
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Alcaraz, Daniel, Gianluca Antonelli, Massimo Caccia, Gerard Dooly, Niamh Flavin, Achim Kopf, Martin Ludvigsen, et al. "The Marine Robotics Research Infrastructure Network (EUMarine Robots): An Overview." In 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV). IEEE, 2020. http://dx.doi.org/10.1109/auv50043.2020.9267940.
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