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.
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Lin, Xinghua, Qing Qin, Xiaoming Wang, and Junxia Zhang. "Robust Flow Field Signal Estimation Method for Flow Sensing by Underwater Robotics." Applied Sciences 11, no. 16 (August 23, 2021): 7759. http://dx.doi.org/10.3390/app11167759.
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The flow field is difficult to evaluate, and underwater robotics can only partly adapt to the submarine environment. However, fish can sense the complex underwater environment by their lateral line system. In order to reveal the fish flow sensing mechanism, a robust nonlinear signal estimation method based on the Volterra series model with the Kautz kernel function is provided, which is named KKF-VSM. The flow field signal around a square target is used as the original signal. The sinusoidal noise and the signal around a triangular obstacle are considered undesired signals, and the predicting performance of KKF-VSM is analyzed after introducing them locally in the original signals. Compared to the radial basis function neural network model (RBF-NNM), the advantages of KKF-VSM are not only its robustness but also its higher sensitivity to weak signals and its predicting accuracy. It is confirmed that even for strong nonlinear signals, such as pressure responses in the flow field, KKF-VSM is more efficient than the commonly used RBF-NNM. It can provide a reference for the application of the artificial lateral line system on underwater robotics, improving its adaptability in complex environments based on flow field information.
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Subad, Rafsan Al Shafatul Islam, Liam B. Cross, and Kihan Park. "Soft Robotic Hands and Tactile Sensors for Underwater Robotics." Applied Mechanics 2, no. 2 (June 8, 2021): 356–83. http://dx.doi.org/10.3390/applmech2020021.
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Research in the field of underwater (UW) robotic applications is rapidly developing. The emergence of coupling the newest technologies on submersibles, different types of telecommunication devices, sensors, and soft robots is transforming the rigid approach to robotic design by providing solutions that bridge the gap between accuracy and adaptability in an environment where there is so much fluctuation in object targeting and environmental conditions. In this paper, we represent a review of the history, development, recent research endeavors, and projected outlook for the area of soft robotics technology pertaining to its use with tactile sensing in the UW environment.
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Fries, David, Connor Tate, Tim Hutcheson, Noam Josef, and David Millie. "Lighting System Packaging for Smart Underwater Reefs for Sensing, Communications, and Robotics." International Symposium on Microelectronics 2017, no. 1 (October 1, 2017): 000270–73. http://dx.doi.org/10.4071/isom-2017-wa43_136.
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Abstract Strings and ropes are a proven, common fisheries and aquaculture construction elements outside the US. Using them as scaffolding also enables a diversity of ocean sensing, communications and architectures, including our goal of sentinel reefs. Packaging of electronics is key to enabling such structures and systems. Our research is towards a demonstrable science-engineering-informed framework for 3D habitat designs critical to stock fish development & coastal protection. These ‘nature-inspired’ reef infrastructures, can enable novel instrumented ‘reef observatories’ capable of collecting real-time ecosystem data. Embedding lighting and electronic elements into reef systems are the first systems in development. This new approach of bringing light to the underwater world for optical sensing, communication and even a new breed of underwater robotic vehicle is an interdisciplinary research activity which integrates principles of electronic packaging, and STEM with art/design.
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Imasato, Motonobu, Nobuo Kiriya, Hiroshi Asou, Osamu Toyama, and Kuniyuki Matsushita. "Development of Marine Surveillance Technology by Sensing Underwater Sound." Journal of The Japan Institute of Marine Engineering 46, no. 1 (2011): 87–92. http://dx.doi.org/10.5988/jime.46.87.
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Fossum, Trygve Olav, John Ryan, Tapan Mukerji, Jo Eidsvik, Thom Maughan, Martin Ludvigsen, and Kanna Rajan. "Compact models for adaptive sampling in marine robotics." International Journal of Robotics Research 39, no. 1 (November 11, 2019): 127–42. http://dx.doi.org/10.1177/0278364919884141.
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Finding high-value locations for in situ data collection is of substantial importance in ocean science, where diverse bio-physical processes interact to create dynamically evolving phenomena. These cover a variable spatial extent, and are sparse and difficult to predict. Autonomous robotic platforms can sustain themselves in harsh conditions with persistent presence, but require deployment at the correct place and time. To that end, we consider the use of remote sensing data for building compact models that can improve skill in predicting sub-mesoscale features and inform onboard sampling. The model enables prediction of regional patterns based on sparse in situ data, a capability that is essential in regions where use of satellite remote sensing in real time is often limited by cloud cover. Our model is based on classification of sea-surface temperature (SST) images, but the technique is general across any remotely sensed parameter. Images having similar magnitude and spatial patterns are grouped into a compact set of conditional means representing the dominant states. The classification is unsupervised and uses a combination of dictionary learning and hierarchical clustering. The method is demonstrated using SST images from Monterey Bay, California. The consistency of the classification result is verified and compared with oceanographic forcing using historical wind measurements. The established model is then shown to work in a real application using measurements from an autonomous surface vehicle (ASV), together with forecast and sampling strategies. Finally an analysis of the model prediction error is presented and compared across different paths and survey duration.
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Krasnosky, Kristopher, Christopher Roman, and David Casagrande. "A bathymetric mapping and SLAM dataset with high-precision ground truth for marine robotics." International Journal of Robotics Research 41, no. 1 (October 11, 2021): 12–19. http://dx.doi.org/10.1177/02783649211044749.
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In recent years, sonar systems for surface and underwater vehicles have increased in resolution and become significantly less expensive. As such, these systems are viable at a wide range of price points and are appropriate for a broad set of applications on surface and underwater vehicles. However, to take full advantage of these high-resolution sensors for seafloor mapping tasks an adequate navigation solution is also required. In GPS-denied environments this usually necessitates a simultaneous localization and mapping (SLAM) technique to maintain good accuracy with minimal error accumulation. Acoustic positioning systems such as ultra short baseline (USBL) and long baseline (LBL) are sometimes deployed to provide additional bounds on the navigation solution, but the positional uncertainty of these systems is often much greater than the resolution of modern multibeam or interferometric side scan sonars. As such, subsurface vehicles often lack the means to adequately ground-truth navigation solutions and the resulting bathymetic maps. In this article, we present a dataset with four separate surveys designed to test bathymetric SLAM algorithms using two modern sonars, typical underwater vehicle navigation sensors, and high-precision (2 cm horizontal, 10 cm vertical) real-time kinematic (RTK) GPS ground truth. In addition, these data can be used to refine and improve other aspects of multibeam sonar mapping such as ray-tracing, gridding techniques, and time-varying attitude corrections.
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Nadtoshy, Anatoly. "IDENTIFICATION OF RISKS IN THE COURSE OF MANAGING THE DEEP SEA ARCHEOLOGICAL PROJECTS USING MARINE ROBOTICS." EUREKA: Physics and Engineering 6 (November 30, 2016): 59–64. http://dx.doi.org/10.21303/2461-4262.2016.00244.
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An analysis is conducted of the basic risks that occur when managing the projects of deep-sea archeological research. It is proposed to consider possible risks of such projects in the form of a general set of risks that contains subsets of the identified and unidentified risks. Based on the generalization of existing experience of conducting underwater archaeological research and with regard to the peculiarities of their execution by using TV-controlled unmanned underwater vehicles, the main risks of such operations are identified. A classification of risk factors is proposed, which takes into account weather and hydrological conditions in the area of operations, peculiarities of the underwater situation, technological and technical provision of underwater archaeological research, possible obstacles from the navigation in the explored area and errors in geographical coordinates of fulfilled work, as well as the human factor. Additionally, environmental, organizational and financial risks, which the project team is aware of, are defined as directly related to planning the projects of deep-sea archeological research. A generalized risk register is developed of the projects' deep-sea archaeological studies as theoretical foundation for designing the models of risk management and their quantitative evaluation when planning financial and temporal resources for such projects.
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Sun, Kai, Weicheng Cui, and Chi Chen. "Review of Underwater Sensing Technologies and Applications." Sensors 21, no. 23 (November 25, 2021): 7849. http://dx.doi.org/10.3390/s21237849.
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As the ocean development process speeds up, the technical means of ocean exploration are being upgraded. Due to the characteristics of seawater and the complex underwater environment, conventional measurement and sensing methods used for land are difficult to apply in the underwater environment directly. Especially for the seabed topography, it is impossible to carry out long-distance and accurate detection via electromagnetic waves. Therefore, various types of acoustic and even optical sensing devices for underwater applications have come into use. Equipped by submersibles, those underwater sensors can sense underwater wide-range and accurately. Moreover, the development of sensor technology will be modified and optimized according to the needs of ocean exploitation. This paper has made a summary of the ocean sensing technologies applied in some critical underwater scenarios, including geological surveys, navigation and communication, marine environmental parameters, and underwater inspections. In order to contain as many submersible-based sensors as possible, we have to make a trade-off on breadth and depth. In the end, the authors predict the development trend of underwater sensor technology based on the future ocean exploration requirements.
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Mazzeo, Angela, Jacopo Aguzzi, Marcello Calisti, Simonepietro Canese, Michela Angiolillo, A. Louise Allcock, Fabrizio Vecchi, Sergio Stefanni, and Marco Controzzi. "Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions." Sensors 22, no. 4 (February 14, 2022): 1471. http://dx.doi.org/10.3390/s22041471.
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In order to develop a gripping system or control strategy that improves scientific sampling procedures, knowledge of the process and the consequent definition of requirements is fundamental. Nevertheless, factors influencing sampling procedures have not been extensively described, and selected strategies mostly depend on pilots’ and researchers’ experience. We interviewed 17 researchers and remotely operated vehicle (ROV) technical operators, through a formal questionnaire or in-person interviews, to collect evidence of sampling procedures based on their direct field experience. We methodologically analyzed sampling procedures to extract single basic actions (called atomic manipulations). Available equipment, environment and species-specific features strongly influenced the manipulative choices. We identified a list of functional and technical requirements for the development of novel end-effectors for marine sampling. Our results indicate that the unstructured and highly variable deep-sea environment requires a versatile system, capable of robust interactions with hard surfaces such as pushing or scraping, precise tuning of gripping force for tasks such as pulling delicate organisms away from hard and soft substrates, and rigid holding, as well as a mechanism for rapidly switching among external tools.
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Rimsky-Korsakov, N. A., A. V. Zaretsky, and N. F. Tikhonova. "TIME OF CREATORS. TO THE 90th ANNIVERSARY VYACHESLAV SEMENOVICH YASTREBOV (1932–2005)." Journal of Oceanological Research 50, no. 2 (August 29, 2022): 197–211. http://dx.doi.org/10.29006/1564-2291.jor-2022.50(2).11.
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A brief summary of the life path, fundamental scientific works and engineering achievements (diving technologies, underwater vehicles building, robotics, underwater research methods) of an outstanding Soviet and Russian marine engineer-scientist, Professor, Science and Technology Honored researcher, Academician of the Russian Academy of Natural Sciences, Director of the Institute of Oceanology V. S. Yastrebov. V. S. Yastrebov effectively combined active scientific and engineering activities in the field of creating experimental methods and means of oceanological research with scientific, organizational and teaching activities, as well as international cooperation.
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Blintsov, Volodymyr, and Leo Tosin Aloba. "CONTROL AUTOMATION OF MARITIME UNMANNED COMPLEX WITH A GROUP OF AUTONOMOUS UNDERWATER VEHICLES." EUREKA: Physics and Engineering 4 (July 31, 2019): 54–62. http://dx.doi.org/10.21303/2461-4262.2019.00940.
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It is expedient to perform underwater search operations on large water areas using a group of autonomous self-propelled underwater vehicles. However, with a large distance to the search areas, the sea transition (from one point to the other) of the underwater vehicles requires high energy costs. This leads to the necessity to use heavy-duty underwater vehicles, which determines the high cost of the search operation. The transport of underwater vehicles is proposed to be carried out with an unmanned surface vessel, equipped with actuators for the automatic release of a group of vehicles under water and receiving on board after the end of the underwater mission. The maritime unmanned complex consisting of an unmanned surface vessel and a group of autonomous underwater vehicles on its board forms a new type of marine robotics, the complete automation of which is an actual scientific and technical task. For its implementation, the underlying (basic) automation technology of the marine search underwater mission has been developed as the theoretical basis for the development of the generalized structure of the complex automatic control system. Ten implementation stages of the underlying technology are formulated and the analysis of their automation features with the use of modern methods in the field of marine robotics is performed. Automation of the underlying technology stages involves the transfer of the vessel to a given water area, the automatic release (launch) of the group of underwater vehicles and their coordinated motion to the search area, the search operations and the return to the unmanned surface vessel, as well as the recovery of the vessel to the base. The generalized requirements for automatic control systems constituting the maritime unmanned complex at each stage of its functioning are provided. The spiral trajectory of waiting for the motion of the underwater vehicles at the group formation stages, for the search operation execution and after its completion, is proposed. For the spatial motion of the autonomous underwater vehicle as an agent of the group, the automatic control system was improved by introducing the blocks of the “Navigation Situation Model” and the “Navigation Threat Identifier, which make it impossible for emergency collision with the neighboring underwater vehicles of the group and disintegrate the group due to the data communication loss between them.
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Rossi, Matija, Petar Trslić, Satja Sivčev, James Riordan, Daniel Toal, and Gerard Dooly. "Real-Time Underwater StereoFusion." Sensors 18, no. 11 (November 14, 2018): 3936. http://dx.doi.org/10.3390/s18113936.
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Many current and future applications of underwater robotics require real-time sensing and interpretation of the environment. As the vast majority of robots are equipped with cameras, computer vision is playing an increasingly important role it this field. This paper presents the implementation and experimental results of underwater StereoFusion, an algorithm for real-time 3D dense reconstruction and camera tracking. Unlike KinectFusion on which it is based, StereoFusion relies on a stereo camera as its main sensor. The algorithm uses the depth map obtained from the stereo camera to incrementally build a volumetric 3D model of the environment, while simultaneously using the model for camera tracking. It has been successfully tested both in a lake and in the ocean, using two different state-of-the-art underwater Remotely Operated Vehicles (ROVs). Ongoing work focuses on applying the same algorithm to acoustic sensors, and on the implementation of a vision based monocular system with the same capabilities.
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Petersen, Dick, Antoine David, and Darren Jurevicius. "Methodology for environmental impact assessment of underwater noise on marine mammals." APPEA Journal 51, no. 1 (2011): 467. http://dx.doi.org/10.1071/aj10030.
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The oil and gas industry uses some exploration and production technologies that produce high levels of underwater sound, such as seismic surveys, underwater blasting for demolition and construction, and offshore piling. These underwater noise sources have the potential to impact marine species, which are usually reliant on sound instead of light as their primary sense for communication and sensing their environment. Regulatory interest in minimising the impacts of underwater noise on marine fauna is increasing. This paper presents a methodology for assessing these environmental impacts, with particular focus on cetaceans (whales and dolphins) and pinnipeds (seals and sea lions), although it can easily be adapted to other marine mammal species and fishes. It requires input from a variety of fields, such as: underwater acoustics for sound propagation modelling and source noise characterisation; marine bio-acoustics for determining the effects of sound on marine species’ hearing and communication; and marine ecology for identifying the marine species that may be affected and assessing the biological importance of noise-affected marine areas. These inputs are used in a risk assessment to assess the likely impacts of underwater noise on marine species, which is a collaborative effort by specialists in the fields of underwater acoustics, marine bio-acoustics and marine ecology.
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Den Ouden, Casey J., Paul S. Wills, Lucas Lopes, Joshua Sanderson, and Bing Ouyang. "Evolution of the Hybrid Aerial Underwater Robotic System (HAUCS) for Aquaculture: Sensor Payload and Extension Development." Vehicles 4, no. 2 (April 21, 2022): 390–408. http://dx.doi.org/10.3390/vehicles4020023.
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While robotics have been widely used in many agricultural practices such as harvesting, seeding, cattle monitoring, etc., aquaculture farming is an important, fast-growing sector of agriculture that has not seen significant adoption of advanced technologies such as robotics and the Internet of Things (IoT). In particular, dissolved oxygen (DO) monitoring, a practice in pond aquaculture essential to the health of the fish crops, remains labor-intensive and time-consuming. The Hybrid Aerial Underwater robotiCs System (HAUCS) is an IoT framework that aims to bring transformative changes to pond aquaculture. This paper focuses on the latest development in the HAUCS mobile sensing platform and field deployment. To address some shortcomings with the current implementation, the development of a novel rigid Kirigami-based robotic extension subsystem that can expand the functionality of the HAUCS platform is also being discussed.
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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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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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TSABARIS, C., and I. THANOS. "An underwater sensing system for monitoring radioactivity in the marine environment." Mediterranean Marine Science 5, no. 1 (May 1, 2004): 125. http://dx.doi.org/10.12681/mms.217.
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We describe a set up and an application for an autonomously working, radioactivity sensing instrument, usable in seawater and river environments. The system is based on a N aI scintillator with the appropriate specifications for use in the marine environment and for real time acquisition. It is simple, stable for long - term monitoring, and of low consumption. Many tests were carried out for the linearity and the stability of the electronics. The investigation of energy resolution and energy calibration of the sensor was performed in the laboratory using various reference point radioactive sources. The system was also deployed in a water tank in order to measure background radiation in the water and low volumetric activity of 137Cs (17 Bq/m3). Appropriate software identifies qualitatively the low level137Cs contribution to the measured γ-ray spectrum.
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Dai, Minghui, Yang Li, Peichun Li, Yuan Wu, Liping Qian, Bin Lin, and Zhou Su. "A Survey on Integrated Sensing, Communication, and Computing Networks for Smart Oceans." Journal of Sensor and Actuator Networks 11, no. 4 (October 26, 2022): 70. http://dx.doi.org/10.3390/jsan11040070.
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The smart ocean has been regarded as an integrated sensing, communication, and computing ecosystem developed for connecting marine objects in surface and underwater environments. The development of the smart ocean is expected to support a variety of marine applications and services such as resource exploration, marine disaster rescuing, and environment monitoring. However, the complex and dynamic marine environments and the limited network resources raise new challenges in marine communication and computing, especially for these computing-intensive and delay-sensitive tasks. Recently, the space–air–ground–sea integrated networks have been envisioned as a promising network framework to enhance the communication and computing performance. In this paper, we conduct a comprehensive survey on the integrated sensing, communication, and computing networks (ISCCNs) for smart oceans based on the collaboration of space–air–ground–sea networks from four domains (i.e., space layer, aerial layer, sea surface layer, and underwater layer), and five aspects (i.e., sensing-related, communication-related, computation-related, security-related, and application-related). Specifically, we provide the key technologies for the ISCCNs in smart oceans, and introduce the state-of-the-art marine sensing, communication, and computing paradigms. The emerging challenges with the potential solutions of the ISCCNs for smart oceans are illustrated to enable the intelligent services. Moreover, the new applications for the ISCCNs in smart oceans are discussed, and potential research directions in smart oceans are provided for future works.
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Nikushchenko, Dmitry, Andrey Maevskiy, Igor Kozhemyakin, Vladimir Ryzhov, Artem Goreliy, and Timofey Sulima. "Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems." Journal of Marine Science and Engineering 10, no. 10 (October 19, 2022): 1531. http://dx.doi.org/10.3390/jmse10101531.
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Glider-type autonomous underwater vehicles are today one of the most promising areas of marine robotics. This is confirmed by the frequent and remarkable results of various research missions and projects. The cumulative group application of underwater and no less innovative wave gliders can significantly reduce the time of obtaining oceanographic data. Together with wave gliders, one group of such robotic objects can significantly increase the efficiency, time and volume of obtaining oceanographic data. There is big interest in increasing the functionality of such a group. This article presents one of the possible alternatives to increase the functionality of a group of underwater and waveguide hang gliders. We present the process of upgrading the existing design, control algorithms and software of the SHADOW underwater glider, which was developed by the teams of the St. Petersburg State Marine Technical University (SMTU) and Okeanos JSC in order to jointly study the monitoring of underwater potentially dangerous objects with the St. Petersburg State Fire Service EMERCOM of Russia. A structural-functional approach to the group application of underwater and waveguides is also proposed, which is capable of providing oceanographic, meteorological and environmental monitoring data online, based on the developed multilayer system for planning the trajectories of group movement of objects. The results of full-scale sea trials and the developed algorithms are demonstrated.
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Sequeira, Steevan Loyd, Pruthviraj Umesh, and Gangadharan K. V. "Development of Tail and Nose Cone for Underwater Vertical Profiler Using Fused Deposition Modelling Technology." International Journal of Engineering Research in Mechanical and Civil Engineering (IJERMCE) 9, no. 8 (August 1, 2022): 43–47. http://dx.doi.org/10.36647/ijermce/09.08.a009.
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Unmanned underwater vehicle (UUV) research is currently a prominent and quite well-known topic for researchers from various engineering disciplines. A wide number of applications for 3D printing technologies have been explored, including robotics, automotive components, food, healthcare, space, marine, etc. This paper introduces the implementation of additive manufacturing technology (3D printing) into marine applications. The use of various 3D printing processes to create complex, cost-effective profiles have recently gained popularity to test the durability of newly designed products. The subsequent sections will explain the development of 3D printed nose and tail cones for the Underwater vehicles which will be used for underwater exploration. The development process is divided into the design of nose and tail cones using Solidworks, a 3D design software, flow analysis for the estimation and reduction of drag, operational depth of 3D printed parts using FEA software ANSYS, and prototyping using fused deposition modelling technology. The developed tail and nose cone were implemented into the vertical profiler and tested at the NITK swimming pool and successfully profiled the vertical column of the pool.
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Zurk, Lisa M., Helen H. Ou, Scott Schecklman, and Ayal Lutwak. "Acoustic Monitoring of Marine Conservation Areas." Marine Technology Society Journal 48, no. 6 (November 1, 2014): 21–32. http://dx.doi.org/10.4031/mtsj.48.6.7.
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AbstractThis paper introduces underwater sensing technologies for acoustic monitoring of marine conservation areas. Small networks of individual passive acoustic sensors have been deployed to investigate a low-cost solution for monitoring motorized vessels and marine ambient noise in large areas. A data processing package, called “Conservancy-Watch,” is introduced for environmental management and conservation of natural resources. The package includes passive sensing database creation, ambient noise monitoring to identify long-term trends and impacts, classification of organic and boat vessel events, detection of marine mammals and estimation of their call density, and detection of motorized vessels. Test results on data collected at several conservation sites in Hawaii have confirmed the detection capability of individual hydrophone sensors.
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Ridolfi, Alessandro, Nicola Secciani, Mascha Stroobant, Matteo Franchi, Leonardo Zacchini, Riccardo Costanzi, Giovanni Peralta, and Luigi Enrico Cipriani. "Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View." Journal of Marine Science and Engineering 9, no. 10 (October 13, 2021): 1111. http://dx.doi.org/10.3390/jmse9101111.
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Coastal zones are subjected to a wide range of phenomena acting on very different temporal and spatial scales: from decades to days and from hundreds of kilometers to tens of meters. Planning the management of such areas, thus, requires an accurate and updated knowledge of the ongoing processes. While standard monitoring activities are functional for the medium-long time scale and medium-large spatial scale, they struggle to provide adequate information concerning the short period (i.e., days) and small range (i.e., few meters). In addition, such operations are affected by high costs and logistic complexity since they generally involve the deployment of specific aircraft or maritime vehicles. On the contrary, the employment of robotic devices can represent a solution to these issues. Their proper use can allow for frequent surveys and enhance the coverage of the acquired data due to optimized mission strategies. Marine robotics has the potential to arise as an efficient complementary tool to standard monitoring techniques. Nevertheless, the use of marine robots is still limited and should be improved. The purpose of this paper is to discuss the current state of robotic technology, identifying both the benefits and shortcomings of its use for micro-tidal marine-coastal monitoring. The discussion will be supported by actual results, taken as an example, achieved using FeelHippo AUV, the compact Autonomous Underwater Vehicle (AUV) developed by the Department of Industrial Engineering at the University of Florence, Italy.
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Ridolfi, Alessandro, Nicola Secciani, Mascha Stroobant, Matteo Franchi, Leonardo Zacchini, Riccardo Costanzi, Giovanni Peralta, and Luigi Enrico Cipriani. "Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View." Journal of Marine Science and Engineering 9, no. 10 (October 13, 2021): 1111. http://dx.doi.org/10.3390/jmse9101111.
Full textAbstract:
Coastal zones are subjected to a wide range of phenomena acting on very different temporal and spatial scales: from decades to days and from hundreds of kilometers to tens of meters. Planning the management of such areas, thus, requires an accurate and updated knowledge of the ongoing processes. While standard monitoring activities are functional for the medium-long time scale and medium-large spatial scale, they struggle to provide adequate information concerning the short period (i.e., days) and small range (i.e., few meters). In addition, such operations are affected by high costs and logistic complexity since they generally involve the deployment of specific aircraft or maritime vehicles. On the contrary, the employment of robotic devices can represent a solution to these issues. Their proper use can allow for frequent surveys and enhance the coverage of the acquired data due to optimized mission strategies. Marine robotics has the potential to arise as an efficient complementary tool to standard monitoring techniques. Nevertheless, the use of marine robots is still limited and should be improved. The purpose of this paper is to discuss the current state of robotic technology, identifying both the benefits and shortcomings of its use for micro-tidal marine-coastal monitoring. The discussion will be supported by actual results, taken as an example, achieved using FeelHippo AUV, the compact Autonomous Underwater Vehicle (AUV) developed by the Department of Industrial Engineering at the University of Florence, Italy.
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Wang, Kai, Heng Wang, Xing-Yu Wu, Yong Zhang, Daquan Yang, Rongzhen Jiao, and Chuan Wang. "Ultrasound Sensing Using Packaged Microsphere Cavity in the Underwater Environment." Sensors 22, no. 11 (May 31, 2022): 4190. http://dx.doi.org/10.3390/s22114190.
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The technologies of ultrasound detection have a wide range of applications in marine science and industrial manufacturing. With the variation of the environment, the requirements of anti-interference, miniaturization, and ultra-sensitivity are put forward. Optical microcavities are often carefully designed for a variety of ultra-sensitive detections. Using the packaged microsphere cavity, we fabricated an ultrasound sensor that can work in an underwater environment. During practical detection, the optical resonance mode of the cavity can work with real-time response accordingly. The designed structure can work in various complex environments and has advantages in the fields of precision measurement and nano-particle detection.
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Boyer, Frédéric, Vincent Lebastard, Steven Bruce Ferrer, and Franck Geffard. "Underwater pre-touch based on artificial electric sense." International Journal of Robotics Research 39, no. 6 (March 18, 2020): 729–52. http://dx.doi.org/10.1177/0278364920903776.
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This article exploits a bio-inspired sensor technology named artificial electric-sense to emulate underwater pre-touch. The sensor is considered as an electric finger controlled remotely by an operator to follow the boundaries of objects. Using electric measurements only, the approach feeds back pre-touch forces and torques to the operator through an haptic interface. These forces and torques are generated by a set of virtual electric charges and dipoles arranged on the probe and reacting in the electric field reflected by the objects. This model of emulated forces is passive and guarantees the stability of a position–position haptic feedback loop. The whole approach is assessed through a set of experiments carried out on a Cartesian slave robot coupled to an haptic interface. The obtained results show the feasibility of the concept and its robustness to different configurations of objects. Such an electro-haptic feedback opens new perspectives in both electric field sensing and underwater robotics.
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Papatheodorou, G., M. Geraga, A. Chalari, D. Christodoulou, M. Iatrou, E. Fakiris, St Kordella, M. Prevenios, and G. Ferentinos. "Remote sensing for underwater archaeology: case stud-ies from Greece and Eastern Mediterranean." Bulletin of the Geological Society of Greece 44 (February 1, 2017): 100. http://dx.doi.org/10.12681/bgsg.11440.
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Modern underwater remote sensing technology introduces many advantages that extend the range of conventional diving work providing the means to survey in a detailed and systematic fashion large seafloor area. There are two general approaches regarding the application of these techniques in underwater archaeology; they are being increasingly used to identify, locate and map (i) ancient and historical shipwrecks lying on the seafloor or partly buried in it and (ii) the coastal palaeogeogra-phy and thus submerged sites of archaeological interest (submerged ancient cities, settlements, ports and man-made structures). The underwater remote sensing techniques most commonly applied to underwater archaeology employ: (i) single and multi-beam echosounders (ii) side scan sonar (acousting imaging), (iii) laser line scan (optical imaging) (iv) subbottom profiler, (v) marine magne-tometer and (vi) undersea vehicles. The objectives of this paper are twofold: (i) to present the results of remote sensing surveys that carried out at sites of archaeological and historical interest, in Greece (Dokos Island, ancient harbour of Kyllene and Navarino Bay whereas a historical naval Battle took place) and in Eastern Mediterranean Sea (Alexandria Egypt and Mazotos shipwreck Cyprus), and (ii) to prove the applicability of remote sensing techniques in underwater archaeology showing that a combination of these can be a very effective tool.
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Ahmed, Abdelsalam. "Self-powered wireless sensing platform for monitoring marine life based on harvesting hydrokinetic energy of water currents." Journal of Materials Chemistry A 10, no. 4 (2022): 1992–98. http://dx.doi.org/10.1039/d1ta04861a.
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Asadnia, Mohsen, Ajay Giri Prakash Kottapalli, Zhiyuan Shen, Jianmin Miao, and Michael Triantafyllou. "Flexible and Surface-Mountable Piezoelectric Sensor Arrays for Underwater Sensing in Marine Vehicles." IEEE Sensors Journal 13, no. 10 (October 2013): 3918–25. http://dx.doi.org/10.1109/jsen.2013.2259227.
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Xu, Xi, Yi Qin, Dejun Xi, Ruotong Ming, and Jie Xia. "MulTNet: A Multi-Scale Transformer Network for Marine Image Segmentation toward Fishing." Sensors 22, no. 19 (September 23, 2022): 7224. http://dx.doi.org/10.3390/s22197224.
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Image segmentation plays an important role in the sensing systems of autonomous underwater vehicles for fishing. Via accurately perceiving the marine organisms and surrounding environment, the automatic catch of marine products can be implemented. However, existing segmentation methods cannot precisely segment marine animals due to the low quality and complex shapes of collected marine images in the underwater situation. A novel multi-scale transformer network (MulTNet) is proposed for improving the segmentation accuracy of marine animals, and it simultaneously possesses the merits of a convolutional neural network (CNN) and a transformer. To alleviate the computational burden of the proposed network, a dimensionality reduction CNN module (DRCM) based on progressive downsampling is first designed to fully extract the low-level features, and then they are fed into a proposed multi-scale transformer module (MTM). For capturing the rich contextural information from different subregions and scales, four parallel small-scale encoder layers with different heads are constructed, and then they are combined with a large-scale transformer layer to form a multi-scale transformer module. The comparative results demonstrate MulTNet outperforms the existing advanced image segmentation networks, with MIOU improvements of 0.76% in the marine animal dataset and 0.29% in the ISIC 2018 dataset. Consequently, the proposed method has important application value for segmenting underwater images.
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Banerjee, Sheekar, and Aminun Nahar Jhumur. "A Novel Approach of Marine Ecosystem Monitoring System with Multi-Sensory Submarine on Robotic Platform for Visualizing the Climate Change Effect over Oceanic Environment." Trends in Sciences 19, no. 10 (May 15, 2022): 4205. http://dx.doi.org/10.48048/tis.2022.4205.
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It is obvious that the whole world is so much concerned about the terrifying escalation of climate change in the recent time period. This climate change effect can be visible in the land, atmospheric and oceanic area simultaneously. Though there have been multiple attempts of proposing solutions concerning the protection for the land area environmental balance, monitoring and surveillance. But unfortunately there have been a very handful of research work which predominantly concerns about the protection upon the environmental state of marine biological species and its ecosystem. So, the following research study proposes a solution which appears to be a full-fledged Bluetooth controlled Submarine prototype with a sensory chipboard attached inside its endo-skeleton which contains multiple sensors like DHT11 temperature-humidity, dust, CO2 and YL69 pH sensors. The sensory data provides the information of underwater whether the naval environment is habitable for the marine biological species or not, under the terrible effect of global climate change. The submarine prototype is fully functional in the surface and underwater scenario which contains a very unique mechanical design and circuitry with an exceptional sensor data streaming capability which can be used by marine biological researchers and oceanographers professionally as a full-fledged marine ecosystem monitoring device.
HIGHLIGHTS
Climate change is causing a very alarming effect in the oceanic area which is constantly threatening the future of marine biological species. The paper focuses on the constant monitoring over spacies with the help of a multi-sensory submarine with real time sensory data and remote navigation
The unique clustering of multi-sensory circuity makes the sensory data more reliable while the vacuum controlled hydraulic pump motors make the navigation and diving of the submarine prototype very preciseand swift
The navigation can be controlled with a globally unique and customized Submarine Navigator Smartphone Application
The multi-sensory marine species monitoring submarine prototype appears to be a torch-bearer of the amalgamation of the fields such as IOT-Sensors and Robotics which paves the way for further IOT and Naval Robotics Research
GRAPHICAL ABSTRACT
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Huang, Guoxian, Ridvan Umaz, Udayarka Karra, Baikun Li, and Lei Wang. "A Power Management Integrated System for Biomass-based Marine Sediment Energy Harvesting." International Journal of High Speed Electronics and Systems 23, no. 01n02 (March 2014): 1450012. http://dx.doi.org/10.1142/s0129156414500128.
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This paper presents the design of an underwater energy harvesting system, which would provide persistent and sustainable power supply for remote underwater sensing and surveillance devices. The system consists of Distributed Benthic Microbial Fuel Cell (DBMFC) and the associated power management integrated circuit. The DBMFC exploits bacterial metabolic activities associated with the redox reaction to generate electrical energy directly from biodegradable substrates. The power management circuit collects the energy harvested by the DBMFC and boosts the output voltage to a sufficient and stable level for loads such as sensor devices. Simulation results of the power management system in a 90nm CMOS process demonstrate the expected functions and the significant improvement in energy conversion efficiency.
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Quintino, Victor, Rosa Freitas, Renato Mamede, Fernando Ricardo, Ana Maria Rodrigues, Jorge Mota, Ángel Pérez-Ruzafa, and Concepción Marcos. "Remote sensing of underwater vegetation using single-beam acoustics." ICES Journal of Marine Science 67, no. 3 (November 13, 2009): 594–605. http://dx.doi.org/10.1093/icesjms/fsp251.
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Abstract Quintino, V., Freitas, R., Mamede, R., Ricardo, F., Rodrigues, A. M., Mota, J., Pérez-Ruzafa, Á., and Marcos, C. 2010. Remote sensing of underwater vegetation using single-beam acoustics. – ICES Journal of Marine Science, 67: 594–605. A single-beam, acoustic, ground-discrimination system (QTC VIEW, Series V) was used to study the distribution of underwater macrophytes in a shallow-water coastal system, employing frequencies of 50 and 200 kHz. The study was conducted in Mar Menor, SE Spain, where the expansion of Caulerpa prolifera has contributed to the silting up of the superficial sediments. A direct relationship was identified between algal biomass and sediment-fines content. Acoustic information on sediment grain size and data on algal biomass were obtained in muddy and sandy sediments, including vegetated and non-vegetated seabed. Non-vegetated muddy areas were created by diving and handpicking the algae. The multivariate acoustic data were analysed under the null hypotheses that there were no acoustic differences between bare seabeds with contrasting superficial sediment types or among low, medium, and high algal-biomass areas, having in mind that grain size can act as a confounding factor. Both null hypotheses were rejected, and the results showed that 200 kHz was better than 50 kHz in distinguishing cover levels of algal biomass. The relationship between the 200-kHz acoustic data and algal biomass suggests utility in modelling the latter using the former.
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Al-Issa, Huthaifa Ahmad, Wesam Fouad Swedan, Duha Ahmad Al-Shyyab, Ruwa Ma’mon Altobosh, and Ayeh Okleh Altarabsheh. "Prototype for wireless remote control of underwater robotic development." Indonesian Journal of Electrical Engineering and Computer Science 27, no. 1 (July 1, 2022): 238. http://dx.doi.org/10.11591/ijeecs.v27.i1.pp238-245.
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Human beings have been substituted with robots in the performance of tedious and risky activities that human beings do not like or are incapable of performing due to the size of restrictions or the existence of the world, such as outer space or the ocean's depths. It has evolved into a low-cost, dependable, and inexpensive medium that can be used by both scientific societies and different industries for various surveys, mapping, and other underwater activities. In this study of underwater robotics power, we create an underwater robot that can fly in three dimensions: up-down, left-right, and front-back. The robot's motion is monitored by three motors, which also enable it to perform other tasks. Due to the fact that one-third of the world's population lives within 100 kilometers of the ocean, and that we are so focused on land and atmospheric problems that we ignore the seas, it is important to observe marine life and calculate the temperature and strength of light underwater. This application allows determining the appropriate temperature and intensity for living sea creatures to preserve their lives.
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Chou, Chun-Feng, Cheng-Mu Tsai, Chao-Hsien Chen, Yung-Hao Wong, Yi-Chin Fang, Chan-Chuan Wen, Hsiao-Yi Lee, Hien-Thanh Le, Shun-Hsyung Chang, and Hsing-Yuan Liao. "Optical Design and Optimization with Genetic Algorithm for High-Resolution Optics Applied to Underwater Remote-Sensing." Applied Sciences 11, no. 21 (October 30, 2021): 10200. http://dx.doi.org/10.3390/app112110200.
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In fields such as biology, archeology, and industry, underwater photogrammetry can be achieved using consumer-grade equipment. However, camera operations underwater differ considerably from those on land because underwater photogrammetry involves different optical phenomena. On the basis of the requirements and specifications of the marine vessel Polaris, we developed a novel underwater camera with prime and zoom lenses and a high resolving power. The camera can be used in the spectrum in shallow water and the blue–green spectrum in deep water. In the past, ordinary cameras would be placed in waterproof airtight boxes for underwater photography. These cameras were not optimized to the underwater spectrum and environment, resulting in no breakthroughs in resolving power. Furthermore, the use of the blue spectrum greatly increases during underwater and particularly deep-water surveying. Chromatic aberration and focus-point displacement generated by the shift from the shallow-water spectrum to the blue–green spectrum in deep water makes universal underwater photography even more difficult. Our proposed optical design aimed to overcome such challenges for the development of a high-resolution underwater surveying camera. We designed a prime lens and a zoom lens. We adopted a waterproof dome window on the outer surface as the basic structure and optimized it in accordance with the conditions of different water depths and spectra to obtain distortion within ±2% and high-resolution underwater imaging quality. For the zoom lens design, we employed a genetic algorithm in Zemax to attenuate chromatic aberration as a kind of extended optimization. This novel optical design that can be used in all waters is expected to greatly reduce the volume and weight of conventional underwater cameras by more than 50% and 60%, respectively, and increase their resolving power by 30–40%.
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Karaki, Ali Alakbar, Marco Bibuli, Massimo Caccia, Ilaria Ferrando, Sara Gagliolo, Angelo Odetti, and Domenico Sguerso. "Multi-Platforms and Multi-Sensors Integrated Survey for the Submerged and Emerged Areas." Journal of Marine Science and Engineering 10, no. 6 (May 30, 2022): 753. http://dx.doi.org/10.3390/jmse10060753.
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In this paper, the state-of-the-art concerning new methodologies for surveying in coastal areas in order to obtain an efficient quantification of submerged and emerged environments is described and evaluated. This work integrates an interdisciplinary approach involving both geomatics and robotics and focuses on definition, implementation, and development of a methodology to execute integrated aerial and underwater survey campaigns in shallow water areas. A preliminary test was performed at Gorzente Lakes near Genoa (Italy), to develop and integrate different survey techniques, enabling working in a smarter way, reducing costs and increasing safety for the operators. In this context, Remote Sensing techniques were integrated with a UAV (Unmanned Aerial Vehicle) carrying an aerial optical sensor for photogrammetry and with an ASV (Autonomous Surface Vehicle) expressly addressed to work in extremely shallow water with underwater acoustic sensors (single echo sounder). The obtained continuous seamless DSM (Digital Surface Model) for the entire environment was reconstructed by the combination of different sensing systems by limiting reliance on the GNSS (Global Navigation Satellite System) support. The obtained DSM was displayed in a 3D model leading to the evaluation of the water flow volume and rendering of 3D visualization.
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Matuszewski, Leszek. "New Designs of Centrifugal Magnetic Fluid Seals for Rotating Shafts in Marine Technology." Polish Maritime Research 26, no. 2 (June 1, 2019): 33–46. http://dx.doi.org/10.2478/pomr-2019-0023.
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Abstract The centrifugal magnetic fluid seals have important advantage over the conventional centrifugal seals. They maintain very good sealing capacity at static, medium and high speeds of shaft rotation, with the increased seal lifetime, and minimum torque and static friction. These seals are particularly useful in cases when the angular shaft velocity varies and sometimes decreases to nearly or exactly zero, such as in flywheel applications, ship propeller main shafts, etc. Unique properties of the magnetic fluid give rare opportunities for application in marine design, where perfect sealing together with reliable lubrication are required. The paper presents a typical design and operation principle of a centrifugal magnetic fluid shaft seal, along with new design solutions. Not only in ocean technology and underwater robotics. Some cases of application of centrifugal magnetic fluid seals in modern sealing technology are included.
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Sun, Boai, Weikun Li, Zhangyuan Wang, Yunpeng Zhu, Qu He, Xinyan Guan, Guangmin Dai, et al. "Recent Progress in Modeling and Control of Bio-Inspired Fish Robots." Journal of Marine Science and Engineering 10, no. 6 (June 2, 2022): 773. http://dx.doi.org/10.3390/jmse10060773.
Full textAbstract:
Compared with traditional underwater vehicles, bio-inspired fish robots have the advantages of high efficiency, high maneuverability, low noise, and minor fluid disturbance. Therefore, they have gained an increasing research interest, which has led to a great deal of remarkable progress theoretically and practically in recent years. In this review, we first highlight our enhanced scientific understanding of bio-inspired propulsion and sensing underwater and then present the research progress and performance characteristics of different bio-inspired robot fish, classified by the propulsion method. Like the natural fish species they imitate, different types of bionic fish have different morphological structures and distinctive hydrodynamic properties. In addition, we select two pioneering directions about soft robotic control and multi-phase robotics. The hybrid dynamic control of soft robotic systems combines the accuracy of model-based control and the efficiency of model-free control, and is considered the proper way to optimize the classical control model with the intersection of multiple machine learning algorithms. Multi-phase robots provide a broader scope of application compared to ordinary bionic robot fish, with the ability of operating in air or on land outside the fluid. By introducing recent progress in related fields, we summarize the advantages and challenges of soft robotic control and multi-phase robotics, guiding the further development of bionic aquatic robots.
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Ullo, Silvia Liberata, and G. R. Sinha. "Advances in IoT and Smart Sensors for Remote Sensing and Agriculture Applications." Remote Sensing 13, no. 13 (July 1, 2021): 2585. http://dx.doi.org/10.3390/rs13132585.
Full textAbstract:
Modern sensors find their wide usage in a variety of applications such as robotics, navigation, automation, remote sensing, underwater imaging, etc. and in recent years the sensors with advanced techniques such as the artificial intelligence (AI) play a significant role in the field of remote sensing and smart agriculture. The AI enabled sensors work as smart sensors and additionally the advent of the Internet of Things (IoT) has resulted into very useful tools in the field of agriculture by making available different types of sensor-based equipment and devices. In this paper, we have focused on an extensive study of the advances in smart sensors and IoT, employed in remote sensing and agriculture applications such as the assessment of weather conditions and soil quality; the crop monitoring; the use of robots for harvesting and weeding; the employment of drones. The emphasis has been given to specific types of sensors and sensor technologies by presenting an extensive study, review, comparison and recommendation for advancements in IoT that would help researchers, agriculturists, remote sensing scientists and policy makers in their research and implementations.
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Cross, Liam B., Rafsan Al Shafatul Islam Subad, Md Mahmud Hasan Saikot, and Kihan Park. "Waterproof Design of Soft Multi-Directional Force Sensor for Underwater Robotic Applications." Applied Mechanics 3, no. 3 (June 22, 2022): 705–23. http://dx.doi.org/10.3390/applmech3030042.
Full textAbstract:
Directional force sensing is an intrinsic feature of tactile sensing. As technologies of exploratory robots evolve, with special emphasis on the emergence of soft robotics, it is crucial to equip robotic end-effectors with effective means of characterizing trends in force detection and grasping phenomena, while these trends are largely derived from networks of tactile sensors working together, individual sensors must be built to meet an intended function and maintain functionality with respect to environmental operating conditions. The harshness of underwater exploration imposes a unique set of circumstances onto the design of tactile sensors. When exposed to underwater conditions a tactile sensor must be able to withstand the effects of increased pressure paired with water intrusion while maintaining computational and mechanical integrity. Robotic systems designed for the underwater environment often become expensive and cumbersome. This paper presents the design, fabrication, and performance of a low-cost, soft-material sensor capable of multi-directional force detection. The fundamental design consists of four piezo-resistive flex elements offset at 90∘ increments and encased inside of a hemispherical silicone membrane filled with a non-compressive and non-conductive fluid. The sensor is simulated numerically to characterize soft-material deformation and is experimentally interrogated with indentation equipment to investigate sensor-data patterns when subject to different contact forces. Furthermore, the sensor is subject to a cyclic loading test to analyze the effects of hysteresis in the silicone and is submerged underwater for a 7-day period to investigate any effect of water intrusion at a shallow depth. The outcome of this paper is the proposed design of a waterproofed, soft-material tactile sensor capable of directional force detection and contact force localization. The overall goal is to widen the scope of tactile sensor concepts outfitted for the underwater environment.
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Consi, Thomas R., Dixia Fan, and Gurvan Jodin. "FishBots: Bio-Inspired Marine Robots Give Students a Hands-On Introduction to Fluid Mechanics." Marine Technology Society Journal 54, no. 4 (July 1, 2020): 6–15. http://dx.doi.org/10.4031/mtsj.54.4.3.
Full textAbstract:
AbstractSimple bio-inspired marine robots were used as teaching tools to introduce students to concepts in fluid mechanics, marine robotics, and how biological swimming mechanisms can provide fertile ground for new ideas in underwater propulsion. These robots, termed FishBots, were used in two educational situations. The first was a project for two undergraduate summer interns at MIT Sea Grant. This experience proved that such robots could be developed by undergraduates under the time constraint of a 1-month internship. Building on that success, we used FishBots successfully in an undergraduate freshman seminar class at MIT. In one semester, 29 students built 13 FishBots, all were tested in the water and 11 successfully swam, meaning they moved in a roughly straight line. These educational experiences are described in this paper along with the design of several of the student-built FishBots. The paper concludes with future educational paths for the FishBot idea.