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Maevsky, Andrey, Vladislav Zanin y Igor Kozhemyakin. "Promising high-tech export-oriented and demanded by the domestic market areas of marine robotics". Robotics and Technical Cybernetics 10, n.º 1 (marzo de 2022): 5–13. http://dx.doi.org/10.31776/rtcj.10101.
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In order to develop the Arctic zone of the Russian Federation, in the decree of the President of the Russian Federation, areas related to the development of the Northern Sea Route, environmental protection of the Arctic zone, an increase in the growth rate of geological research and the development of monitoring systems for the Arctic region were separately noted. Also in this document, the main tasks were identified that require careful study, namely: the development and implementation of technologies and equipment for use in Arctic conditions, the improvement of the environmental monitoring system, the use of modern information and communication technologies and communication systems for measurements from satellites, marine and ice platforms, research vessels, ground points and from observatories. These problems and tasks are already being successfully solved abroad with the help of the development of modern systems and devices used as part of marine robotic complexes (MRTC). This article provides a comprehensive analysis of the use of autonomous unmanned underwater vehicles (AUVs) as part of underwater resident systems. Particular attention is paid to the projects already implemented in the external market in the oil and gas industry. The authors present the implemented developments in the field of marine resident robotics in the Russian Federation. In conclusion, the authors for-mulated proposals for the development of the direction of marine robotics, including for solving problems associated with long-term monitoring and operation of the bottom oil and gas infrastructure. Key words Marine robotic complexes, AUV, resident robotics, seabed stations, underwater service work, underwater monitoring.
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Yu, Son-Cheol, Antonio M. Pascoal y Jinwhan Kim. "Guest Editorial: Marine Robotics and Control Systems". International Journal of Control, Automation and Systems 18, n.º 3 (28 de febrero de 2020): 521–22. http://dx.doi.org/10.1007/s12555-020-9901-2.
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Bingham, Brian S., Jeffrey M. Walls y Ryan M. Eustice. "Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications". Marine Technology Society Journal 45, n.º 3 (1 de mayo de 2011): 25–36. http://dx.doi.org/10.4031/mtsj.45.3.4.
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AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.
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Ivanov, Y. S., S. V. Zhiganov y N. N. Liubushkina. "Comparative Analysis of Deep Neural Networks Architectures for Visual Recognition in the Autonomous Transport Systems". Journal of Physics: Conference Series 2096, n.º 1 (1 de noviembre de 2021): 012101. http://dx.doi.org/10.1088/1742-6596/2096/1/012101.
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Abstract This paper analyses and presents an experimental investigation of the efficiency of modern models for object recognition in computer vision systems of robotic complexes. In this article, the applicability of transformers for experimental classification problems has been investigated. The comparison results are presented taking into account various limitations specific to robotics. Based on the results of the undertaken studies, recommendations on the use of models in the marine vessels classification problem are proposed
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Casalino, Giuseppe, Massimo Caccia, Stefano Caselli, Claudio Melchiorri, Gianluca Antonelli, Andrea Caiti, Giovanni Indiveri et al. "Underwater Intervention Robotics: An Outline of the Italian National Project MARIS". Marine Technology Society Journal 50, n.º 4 (1 de julio de 2016): 98–107. http://dx.doi.org/10.4031/mtsj.50.4.7.
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AbstractThe Italian national project MARIS (Marine Robotics for Interventions) pursues the strategic objective of studying, developing, and integrating technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities. These activities are becoming progressively more typical for the underwater offshore industry, for search-and-rescue operations, and for underwater scientific missions. Within such an ambitious objective, the project consortium also intends to demonstrate the achievable operational capabilities at a proof-of-concept level by integrating the results with prototype experimental systems.
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Zereik, Enrica, Marco Bibuli, Nikola Mišković, Pere Ridao y António Pascoal. "Challenges and future trends in marine robotics". Annual Reviews in Control 46 (2018): 350–68. http://dx.doi.org/10.1016/j.arcontrol.2018.10.002.
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Pransky, Joanne. "The Pransky interview: Gianmarco Veruggio, Director of Research, CNR-IEIIT, Genoa Branch; Robotics Pioneer and Inventor". Industrial Robot: An International Journal 44, n.º 1 (16 de enero de 2017): 6–10. http://dx.doi.org/10.1108/ir-10-2016-0271.
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Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader, regarding the challenges of bringing technological discoveries to fruition. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Gianmarco Veruggio who is responsible for the Operational Unit of Genoa of the Italian National Research Council Institute of Electronics, Computer and Telecommunication Engineering (CNR-IEIIT). Veruggio is an early pioneer of telerobotics in extreme environments. Veruggio founded the new applicative field of Roboethics. In this interview, Veruggio shares some of his 30-year robotic journey along with his thoughts and concerns on robotics and society. Findings Gianmarco Veruggio received a master’s degree in electronic engineering, computer science, control and automation from Genoa University in 1980. From 1980 to 1983 he worked in the Automation Division of Ansaldo as a Designer of fault-tolerant multiprocessor architectures for fail-safe control systems and was part of the development team for the new automation of the Italian Railway Stations. In 1984, he joined the CNR-Institute of Naval Automation (IAN) in Genoa as a Research Scientist. There, he worked on real-time computer graphics for simulation, control techniques and naval and marine data-collection systems. In 1989, he founded the CNR-IAN Robotics Department (Robotlab), which he headed until 2003, to develop missions on experimental robotics in extreme environments. His approach utilized working prototypes in a virtual lab environment and focused on robot mission control, real-time human-machine interfaces, networked control system architectures for tele-robotics and Internet Robotics. In 2000, he founded the association “Scuola di Robotica” (School of Robotics) to promote this new science among young people and society at large by means of educational robotics. He joined the CNR-IEIIT in 2007 to continue his research in robotics and to also develop studies on the philosophical, social and ethical implications of Robotics. Originality/value Veruggio led the first Italian underwater robotics campaigns in Antarctica during the Italian expeditions in 1993, 1997 and 2001, and in the Arctic during 2002. During the 2001-2002 Antarctic expedition, he carried out the E-Robot Project, the first experiment of internet robotics via satellite in the Antarctica. In 2002, he designed and developed the Project E-Robot2, the first experiment of worldwide internet robotics ever carried out in the Arctic. During these projects, he organized a series of “live-science” sessions in collaboration with students and teachers of Italian schools. Beginning with his new “School of Robotics”, Veruggio continued to disseminate and educate young people on the complex relationship between robotics and society. This led him to coin the term and propose the concept of Roboethics in 2002, and he has since made worldwide efforts at dedicating resources to the development of this new field. He was the General Chair of the “First International Symposium on Roboethics” in 2004 and of the “EURON Roboethics Atelier” in 2006 that produced the Roboethics Roadmap. Veruggio is the author of more than 150 scientific publications. In 2006, he was presented with the Ligurian Region Award for Innovation, and in 2009, for his merits in the field of science and society, he was awarded the title of Commander of the Order of Merit of the Italian Republic, one of Italy’s highest civilian honors.
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Kim, Kwang J., Viljar Palmre, Tyler Stalbaum, Taeseon Hwang, Qi Shen y Sarah Trabia. "Promising Developments in Marine Applications With Artificial Muscles: Electrodeless Artificial Cilia Microfibers". Marine Technology Society Journal 50, n.º 5 (1 de septiembre de 2016): 24–34. http://dx.doi.org/10.4031/mtsj.50.5.4.
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AbstractIonic polymer-metal composite artificial muscles have received great research attention in the development of robotic manipulators, advanced medical devices, and underwater propulsors, such as artificial fish fins. This is due to their unique properties of large deformation, fast dynamic response, low-power requirements, and the ability to operate in aquatic environments. Recently, locomotion of biological cells and microorganisms through unique motion of cilium (flagellum) has received great interest in the field of biomimetic robotics. It is envisioned that artificial cilia can be an effective strategy for maneuvering and sensing in small-scale bioinspired robotic systems. However, current actuators used for driving the robots are typically rigid, bulky in mechanism and electronics requirements producing some acoustic signatures, and difficult to miniaturize. Herein, we report biomimetic, wirelessly driven, electroactive polymer (EAP) microfibers that actuate in an aqueous medium when subjected to an external electric field of <5 V/mm, which can be realized to create cilia-based robotic systems for aquatic applications. Initial development and manufacturing of these systems is presented in this paper. The EAP fibers are fabricated from ionic polymer precursor resin through melt-drawing process and have a circular cross-section with a diameter of 30‐70 μm. When properly activated and subjected to an electric field with switching polarity, the EAP fibers exhibit cyclic actuation with adequate response time (0.05‐5 Hz). The experimental results are presented and discussed to demonstrate the performance and feasibility of biomimetic cilia-based microactuators. Prospective bioinspired applications of the artificial muscle cilia-based system in marine operations are also discussed.
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Kassler, Michael. "Robotics and prawn-handling". Robotica 8, n.º 4 (octubre de 1990): 299–301. http://dx.doi.org/10.1017/s0263574700000333.
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SUMMARYPrawns are a significant marine resource in Australia and elsewhere, but their processing after the harvest is a very labour-intensive operation. Every prawn is presently hand packed. The possibility of utilising machine vision and robots to automate this operation has been investigated. Experiments indicate that machine vision can classify prawns into mass-related categories better than people now do, and that prawn orientation can be determined by this means. Although at the present state of technology it appears infeasible for robots to make up the multi-layer fixed-weight packs of prawns as is now done manually, a change to single-layer variable-weight packs should allow this process to be automated and would offer significant advantages to the Australian industry.
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Blintsov, V. S., O. P. Klochkov y 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, n.º 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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Odetti, Angelo, Marco Bibuli, Gabriele Bruzzone, Cristiano Cervellera, Roberta Ferretti, Mauro Gaggero, Enrica Zereik y Massimo Caccia. "A preliminary experiment combining marine robotics and citizenship engagement using imitation learning". IFAC-PapersOnLine 53, n.º 2 (2020): 14576–81. http://dx.doi.org/10.1016/j.ifacol.2020.12.1464.
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Krasnosky, Kristopher, Christopher Roman y David Casagrande. "A bathymetric mapping and SLAM dataset with high-precision ground truth for marine robotics". International Journal of Robotics Research 41, n.º 1 (11 de octubre de 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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Bibuli, Marco y Enrica Zereik. "Introduction to the special section on marine and maritime robotics: innovation and challenges". Annual Reviews in Control 46 (2018): 265–67. http://dx.doi.org/10.1016/j.arcontrol.2018.10.011.
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Bogue, Robert. "Applications of robotics in test and inspection". Industrial Robot: An International Journal 45, n.º 2 (19 de marzo de 2018): 169–74. http://dx.doi.org/10.1108/ir-01-2018-0012.
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Purpose The purpose of this paper is to provide an insight on the use of robots in a range of industrial test and inspection applications. Design/methodology/approach Following a brief introduction, this discusses robotic test and inspection products and practices in the following applications: pipelines, storage tanks, bridges, marine uses, green energy generation and aerospace. Finally, concluding comments are drawn. Findings This shows that robotic test and inspection practices are being used in a wide range of applications across a diversity of industries. This reflects the many operational and economic benefits arising from their use which include the ability to automate certain laborious manual methods; operation in hazardous locations; uses in inaccessible environments such as within pipelines; the ability to deploy several different techniques simultaneously and thus detect multiple potential defects; reduced workforce costs; and, very often, more rapid testing and greater data acquisition rates than are possible with human operators. Originality/value This illustrates the increasingly important role played by robotic technologies in industrial test and inspection practices.
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Brockerville, Leanne, Caitlin Button, Mark Courish, Stephen Crewe, Gina Doyle, Matthew Follett, Scott Follett et al. "Technical Report of the Eastern Edge Robotics Team The Marine Institute of Memorial University 2007 MATE/MTS International Robotics Competition, Explorer Class". Marine Technology Society Journal 41, n.º 2 (1 de junio de 2007): 72–82. http://dx.doi.org/10.4031/002533207787442213.
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This report describes the development of the ROV Bartlett, designed and fabricated by the Eastern Edge Robotics Team, Newfoundland & Labrador, Canada. Bartlett was purpose-built for use in the 2007 MATE/MTS International ROV Competition to perform three missions based on the 2007 International Polar Year (IPY) theme. Bartlett has a structural frame of 12.5-mm-thick Lexan™, six (6) orthogonally positioned thrusters providing motion in six degrees of freedom, three (3) tilting, hi-resolution cameras, four (4) variable intensity LED cluster lamps, a waterproof Lexan™ electronics housing and low-compressibility (690 kPa), H-100, “High-load” structural Styrofoam™ encased in fiberglass, forming the flotation. Fiber-optic signal transmission is used in propulsion and tool control, sensor input and video systems. Custom programming using C# incorporates data visualization tools from Dundas Gauge and DirectX. Custom tether is neutrally buoyant in the competition environment. Task-specific tools of original design or application have been fabricated for each mission task. The priority in design was simplicity, low drag, low weight, high efficiency, reliability, and robust materials. The Eastern Edge Robotics Team is a diverse group, comprising 17 students from three academic institutions: Memorial University, the Marine Institute, and the College of the North Atlantic. The polar theme of the 2007 MATE/MTS ROV Competition inspired the team to name their ROV Bartlett after Captain Robert Bartlett, an eminent polar explorer born in the British colony of Newfoundland.
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Clark, J. I. y J. Y. Guigné. "Twenty-fifth anniversary special paper: Marine geotechnical engineering in Canada". Canadian Geotechnical Journal 25, n.º 2 (1 de mayo de 1988): 179–98. http://dx.doi.org/10.1139/t88-023.
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Marine geotechnical engineering in Canada is over one hundred years old, having started with overwater drilling and testing for bridges and nearshore structures. Its growth has been sporadic, with not much attention being directed to the geotechnical properties of marine soils until the late 1970's when design of artificial islands made up of large caissons started to develop. For about the last 15 years, marine geotechnical engineering has been driven by the oil and gas industry. Most of the action has been in the Beaufort Sea, where complex site conditions have necessitated detailed geotechnical field drilling, sampling programs, and in situ testing. Very little geotechnical engineering research work or site investigation has been carried out off the east coast except for the Hibernia site on the Grand Banks. In the coming years we can expect to see dramatic changes in site investigation methods. The use of robotics and expert systems coupled with innovative geophysical techniques could dramatically change our methods of site characterization and measurement of geotechnical properties. Key words: marine geotechnical engineering, Beaufort Sea, Grand Banks, Scotian Shelf, in situ testing, geophysical – geotechnical relationship, future trends.
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Ghith, Ehab Seif y Farid Adel Aziz Tolba. "Design and Optimization of PID Controller using Various Algorithms for Micro-Robotics System". Journal of Robotics and Control (JRC) 3, n.º 3 (1 de mayo de 2022): 244–56. http://dx.doi.org/10.18196/jrc.v3i3.14827.
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Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between five meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), and Multi-Verse Optimizer (MVO). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. It is observed that the MPA technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.
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Lupu, Ruxandra, Massimo Caccia, Enrica Zereik y Rosangela Barcaro. "Women in Blue: Toward a Better Understanding of the Gender Gap in Marine Robotics [Women in Engineering]". IEEE Robotics & Automation Magazine 29, n.º 4 (diciembre de 2022): 138–40. http://dx.doi.org/10.1109/mra.2022.3213467.
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Bogue, Robert. "Search and rescue and disaster relief robots: has their time finally come?" Industrial Robot: An International Journal 43, n.º 2 (21 de marzo de 2016): 138–43. http://dx.doi.org/10.1108/ir-12-2015-0228.
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Purpose – This paper aims to discuss search and rescue (SAR) and disaster relief robot developments, trials and applications and to answer the question posed in the title. Design/methodology/approach – Following a short introduction, this first describes Integrated Components for Assisted Rescue and Unmanned Search operations, a recent, collaborative, European research project, and euRathlon, a major robotics competition. It then highlights the role of the centre for robot-assisted search and rescue, and provides examples of the deployment of terrestrial, marine and airborne robots in real SAR and disaster relief situations. It concludes with a brief discussion. Findings – This shows that SAR and disaster relief robots are the topic of an extensive development effort, and many have performed well in simulated disaster scenarios. Terrestrial, marine and airborne robots have been used in many real disaster relief situations since 2001, and the use of unmanned aerial vehicles has proliferated due to recent technological developments. Robots now play an important role in supporting SAR teams, and this will certainly increase as the technologies are developed further. Originality/value – In an era characterized by extreme weather events and continuing military conflicts, robots play an increasingly important role in supporting human disaster response teams. This article provides details of developments, trials and real-world deployments of such robots.
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D’Angelo, Vincenzo, Paolo Folino, Marco Lupia, Gianfranco Gagliardi, Gianni Cario, Francesco Cicchello Gaccio y Alessandro Casavola. "A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm". Drones 6, n.º 12 (27 de noviembre de 2022): 382. http://dx.doi.org/10.3390/drones6120382.
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This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), University of Calabria. The basic project was born as a research program in marine robotics with multiple applications, either in the sea or in lake/river environments, for data monitoring, search and rescue operations and diver support tasks. Mechanical and hardware designs are discussed by considering a three-degree-of-freedom (3DoF) dynamical model of the vehicle. An extension to the typical guidance, navigation, and control (GNC) software architecture is presented. The software design and the implementation of a manager module (M-GNC architecture) that allows the vehicle to autonomously coordinate missions are described. Indeed, autonomous guidance and movement are only one of several more complex tasks that mobile robots have to perform in a real scenario and that allow a long-term life cycle. Module-based software architecture is developed by using the Robot Operating System (ROS) framework that is suitable for different kinds of autonomous vehicles, such as aerial, ground, surface or underwater drones.
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Mitra, Santanu, Vaibhav Sehgal, Shubham Rathore, Raghav Puri, Shivani Chouhan y Aditya Sharma. "Design and Control Strategy of Bio-inspired Underwater Vehicle with Flexible Propulsor". Journal of Modern Mechanical Engineering and Technology 8 (7 de diciembre de 2021): 57–65. http://dx.doi.org/10.31875/2409-9848.2021.08.7.
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Biomimetics aims to take inspiration from nature and develop new models and efficient systems for a sustainable future. Bioinspired underwater robotics help develop future submarines that will navigate through the water using flexible propulsor. This research has focused on the Manta Ray species as batoid has a unique advantage over other species. This study also aims to improve AUV (Autonomous Underwater Vehicle) efficiency through biomimetic design, the purpose of which is to observe and study the marine environment, be it for sea exploration or navigation. The design and prototyping process of bioinspired AUVs have been mentioned in this study, along with testing a propulsive mechanism for efficient swimming and turning capabilities. The Robot was designed taking structural considerations from the actual Manta-Ray locomotion and body design. The propulsion mechanism and control circuit were then implemented on the developed systems. The prototype of the Manta Ray was able to generate a realistic swimming pattern and was tested in an acrylic tank. The experimental results obtained in the tank basin are very close to the results we observe in the real-world scenario in terms of the vehicle's forward and turning motion.
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Blintsov, Volodymyr y Leo Tosin Aloba. "CONTROL AUTOMATION OF MARITIME UNMANNED COMPLEX WITH A GROUP OF AUTONOMOUS UNDERWATER VEHICLES". EUREKA: Physics and Engineering 4 (31 de julio de 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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Фахми, Ш. С., Н. В. Шаталова, Е. В. Костикова y О. В. Бородина. "Algorithms of semantic operational transmission of marine images". MORSKIE INTELLEKTUAL`NYE TEHNOLOGII)</msg>, n.º 4(58) (2 de diciembre de 2022): 201–7. http://dx.doi.org/10.37220/mit.2022.58.4.043.
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Беспилотные транспортные средства, дроны и автономные автомобили, получили широкое применение в повседневной жизни благодаря недавним достижениям в области робототехники и искусственного интеллекта. Наблюдение за акваториями и развитие технологий дистанционного зондирования земли (ДЗЗ) привели к острой необходимости решения задачи обнаружения и слежения за морскими судами в целях обеспечения контроля и безопасности. В последнее время стратегии обучения, относящиеся к области машинного обучения, стали нишей, представляющей интерес для специалистов по ДЗЗ, в частности, серьезной проблемой является оперативная передача видеоинформации с целью повышения ситуационной осведомленности заинтересованных служб в обеспечении контроля и безопасности в реальном времени. При этом важнейшим требованием передачи морских сюжетов является сохранение семантики изображений - пространственные объекты и взаимосвязь между ними без перехода в спектральную область сигнала. В данной работе рассмотрены новые алгоритмы структуризации визуальных данных на основе выделения опорных точек объектов изображений. Развитие технологии систем на кристалле позволило перейти от теоретического моделирования к реализации быстрых пирамидально - рекурсивных алгоритмов обработки видеоинформации. Выполнено моделирование алгоритмов передачи и оценка показателей качества видеосистем передачи изображений. Unmanned vehicles, drones and autonomous cars have been widely used in everyday life thanks to recent advances in robotics and artificial intelligence. Monitoring of water areas and the development of remote sensing technologies have led to an urgent need to solve the problem of detecting and tracking ships in order to ensure control and safety. Recently, learning strategies related to the field of machine learning have become a niche of interest for remote sensing specialists, in particular, the rapid transmission of video information in order to increase situational awareness of interested services in ensuring control and security in real time is a serious problem. At the same time, the most important requirement for the transmission of marine scenes is to preserve the semantics of images spatial objects and the relationship between them without switching to the spectral region of the signal. In this paper, new algorithms for structuring visual data based on the selection of key points of image objects are considered. The development of system-on-a-chip technology made it possible to move from theoretical modeling to the implementation of fast pyramidal-recursive algorithms for processing video information. Modeling of transmission algorithms and evaluation of quality indicators of video image transmission systems are performed.
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Al-Issa, Huthaifa Ahmad, Wesam Fouad Swedan, Duha Ahmad Al-Shyyab, Ruwa Ma’mon Altobosh y Ayeh Okleh Altarabsheh. "Prototype for wireless remote control of underwater robotic development". Indonesian Journal of Electrical Engineering and Computer Science 27, n.º 1 (1 de julio de 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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Ochoa, Eduardo, Nuno Gracias, Klemen Istenič, Josep Bosch, Patryk Cieślak y Rafael García. "Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision". Sensors 22, n.º 14 (18 de julio de 2022): 5354. http://dx.doi.org/10.3390/s22145354.
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Exploration of marine habitats is one of the key pillars of underwater science, which often involves collecting images at close range. As acquiring imagery close to the seabed involves multiple hazards, the safety of underwater vehicles, such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), is often compromised. Common applications for obstacle avoidance in underwater environments are often conducted with acoustic sensors, which cannot be used reliably at very short distances, thus requiring a high level of attention from the operator to avoid damaging the robot. Therefore, developing capabilities such as advanced assisted mapping, spatial awareness and safety, and user immersion in confined environments is an important research area for human-operated underwater robotics. In this paper, we present a novel approach that provides an ROV with capabilities for navigation in complex environments. By leveraging the ability of omnidirectional multi-camera systems to provide a comprehensive view of the environment, we create a 360° real-time point cloud of nearby objects or structures within a visual SLAM framework. We also develop a strategy to assess the risk of obstacles in the vicinity. We show that the system can use the risk information to generate warnings that the robot can use to perform evasive maneuvers when approaching dangerous obstacles in real-world scenarios. This system is a first step towards a comprehensive pilot assistance system that will enable inexperienced pilots to operate vehicles in complex and cluttered environments.
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Sola, Yoann, Gilles Le Chenadec y Benoit Clement. "Simultaneous Control and Guidance of an AUV Based on Soft Actor–Critic". Sensors 22, n.º 16 (14 de agosto de 2022): 6072. http://dx.doi.org/10.3390/s22166072.
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The marine environment is a hostile setting for robotics. It is strongly unstructured, uncertain, and includes many external disturbances that cannot be easily predicted or modeled. In this work, we attempt to control an autonomous underwater vehicle (AUV) to perform a waypoint tracking task, using a machine learning-based controller. There has been great progress in machine learning (in many different domains) in recent years; in the subfield of deep reinforcement learning, several algorithms suitable for the continuous control of dynamical systems have been designed. We implemented the soft actor–critic (SAC) algorithm, an entropy-regularized deep reinforcement learning algorithm that allows fulfilling a learning task and encourages the exploration of the environment simultaneously. We compared a SAC-based controller with a proportional integral derivative (PID) controller on a waypoint tracking task using specific performance metrics. All tests were simulated via the UUV simulator. We applied these two controllers to the RexROV 2, a six degrees of freedom cube-shaped remotely operated underwater Vehicle (ROV) converted in an AUV. We propose several interesting contributions as a result of these tests, such as making the SAC control and guiding the AUV simultaneously, outperforming the PID controller in terms of energy saving, and reducing the amount of information needed by the SAC algorithm inputs. Moreover, our implementation of this controller allows facilitating the transfer towards real-world robots. The code corresponding to this work is available on GitHub.
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Bayat, Mohammadreza y A. Pedro Aguiar. "Underwater localization and mapping: observability analysis and experimental results". Industrial Robot: An International Journal 41, n.º 2 (11 de marzo de 2014): 213–24. http://dx.doi.org/10.1108/ir-09-2013-398.
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Purpose – The authors aim to investigate the observability properties of the process of simultaneous localization and mapping of an autonomous underwater vehicle (AUV), a challenging and important problem in marine robotics, and illustrate the derived results through computer simulations and experimental results with a real AUV. Design/methodology/approach – The authors address the single/multiple beacon observability analysis of the process of simultaneous localization and mapping of an AUV by deriving the nonlinear mathematical model that describes the process; then applying a suitable coordinate transformation, and subsequently a time-scaling transformation to obtain a linear time varying (LTV) system. The AUV considered is equipped with a set of inertial sensors, a depth sensor, and an acoustic ranging device that provides relative range measurements to a set of stationary beacons. The location of the beacons does not need to be necessarily known and in that case, the authors are also interested to localize them. Numerical tests and experimental results illustrate the derived theoretical results. Findings – The authors show that if either the position of one of the beacons or the initial position of the AUV is known, then the system is at least locally weakly observable, in the sense that the set of indistinguishable states from a given initial configuration contains a finite set of isolated points. The simulations and experiments results illustrate the findings. Originality/value – In the single and multiple beacon case and for manoeuvres with constant linear and angular velocities both expressed in the body-frame, known as trimming or steady-state trajectories, the authors derive conditions under which it is possible to infer the state of the resulting system (and in particular the position of the AUV). The authors also describe the implementation of an advanced continuous time constrained minimum energy observer combined with multiple model techniques. Numerical tests and experimental results illustrate the derived theoretical results.
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Sirazhudinov, Sirazhudin Magomedovich. "Organization of High-Quality and Safe Data Transmission in Communication Systems and Radio Access of Marine Robotic Complexes". Вопросы безопасности, n.º 1 (enero de 2023): 32–41. http://dx.doi.org/10.25136/2409-7543.2023.1.39686.
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To date, the issue of developing marine robotic systems for solving various professional tasks of military and civilian purposes is being updated. However, the key aspect of using these systems is the provision of communication, which includes many features and difficulties. The main purpose of the current article is to analyze the trends and prospects for the development of communication systems at marine robotic complexes. The author attempts to make a comprehensive analysis and systematization of knowledge concerning the technical aspects of the organization of communication on marine robotic complexes. The scientific significance of the work lies in the possibility of using the obtained materials as a theoretical basis for further scientific research aimed at developing more efficient communication systems. As a result of the work, the main aspects and solutions for the formation of high-quality and safe data transmission in communication systems and radio access of marine robotic complexes are considered. The scientific novelty of the work lies in the proposal of a solution for the organization of technical data protection in communication systems of marine robotic complexes. The author examines the schematic diagrams of the organization of radio communications and possible ways of integrating information security systems. The scientific value of the work consists in the possibility of using the presented materials for the subsequent implementation of the presented ideas in practice. The main result of the work is the formation of a scientific and theoretical base in the aspects of the formation of data protection in cellular mobile networks on the example of marine robotic complexes. As a solution, it is proposed to use the channel reservation method based on the use of the AnCom RM/E modem. The paper presents the theoretical and algorithmic aspects of the integration of this solution in mobile cellular networks.
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Marani, Giacomo, Gianluca Antonelli y Junku Yu. "Marine Robotic Systems [From the Guest Editors". IEEE Robotics & Automation Magazine 17, n.º 1 (marzo de 2010): 18. http://dx.doi.org/10.1109/mra.2010.936355.
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Kakanov, Mikhail, Mikhail Kaliuzhny, Oleg Borisov, Vladislav Gromov, Sergey Vlasov, Sergey Somov y Anton Pyrkin. "Robust anti-windup control for marine cyber-physical systems". MATEC Web of Conferences 161 (2018): 03025. http://dx.doi.org/10.1051/matecconf/201816103025.
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In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning system based on various modifications of the basic controller is carried out by means of robotic boat. The corresponding experimental results are presented and analysed.
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Blintsov, Volodymyr y Olexandr Klochkov. "GENERALIZED METHOD OF DESIGNING UNMANNED REMOTELY OPERATED COMPLEXES BASED ON THE SYSTEM APPROACH". EUREKA: Physics and Engineering 2 (31 de marzo de 2019): 43–51. http://dx.doi.org/10.21303/2461-4262.2019.00878.
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Self-propelled underwater systems belong to the effective means of marine robotics. The advantages of their use include the ability to perform underwater work in real time with high quality and without risk to the life of a human operator. At present, the design of such complexes is not formalized and is carried out separately for each of the components – a remotely operated vehicle, a tether-cable and cable winch, a cargo device and a control and energy device. As a result, the time spent on design increases and its quality decreases. The system approach to the design of remotely operated complexes ensures that the features of the interaction of the components of the complex are taken into account when performing its main operating modes. In this paper, the system interaction between the components of the complex is proposed to take into account in the form of decomposition of “underwater tasks (mission) – underwater technology of its implementation – underwater work on the selected technology – task for the executive mechanism of the complex” operations. With this approach, an information base is formed for the formation of a list of mechanisms of the complex, the technical appearance of its components is being formed, which is important for the early design stages. Operative, creative and engineering phases of the design of the complex are proposed. For each phase, a set of works has been formulated that cover all the components of the complex and use the author's existence equations for these components as a tool for system analysis of technical solutions. The perspective of the scientific task of the creative phase to create accurate information models of the functioning of the components of the complex and models to support the adoption of design decisions based on a systematic approach is shown. The obtained results form the theoretical basis for finding effective technical solutions in the early stages of designing remotely operated complexes and for automating the design with the assistance of modern applied computer research and design packages.
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Caccia, Massimo y Gabriele Bruzzone. "EXECUTION CONTROL OF ROBOTIC TASKS FOR MARINE SYSTEMS". IFAC Proceedings Volumes 38, n.º 1 (2005): 19–24. http://dx.doi.org/10.3182/20050703-6-cz-1902.01945.
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Vedachalam, Narayanaswamy, Raju Ramesh, Vandavasi Bala Naga Jyothi, Vittal Doss Prakash, Gidugu Ananda Ramadass y Malayath Aravindakshan Atmanand. "Design Considerations for Strategic Autonomous Underwater Swarm Robotic Systems". Marine Technology Society Journal 54, n.º 2 (1 de marzo de 2020): 25–34. http://dx.doi.org/10.4031/mtsj.54.2.6.
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AbstractAutonomous underwater swarm robotic systems (AU-SRS) are vital for exploration of the vast marine resources, spatio-temporal monitoring of the oceans for understanding the changing climate patterns, marine pollution monitoring, defense, and identification of assets lost in the oceans. The paper summarizes the technological developments in the autonomous underwater vehicles hitherto and discusses the design requirements for next-generation intelligent AU-SRS including intra-vehicle intelligence, inter-vehicle communication, intervention capability, swarm algorithms, and bio-inspired designs. The importance of quality-centered system engineering is also detailed.
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Terracciano, D. S., L. Bazzarello, A. Caiti, R. Costanzi y V. Manzari. "Marine Robots for Underwater Surveillance". Current Robotics Reports 1, n.º 4 (27 de agosto de 2020): 159–67. http://dx.doi.org/10.1007/s43154-020-00028-z.
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Abstract Purpose of Review The paper reviews the role of marine robots, in particular unmanned vehicles, in underwater surveillance, i.e. the control and monitoring of an area of competence aimed at identifying potential threats in support of homeland defence, antiterrorism, force protection and Explosive Ordnance Disposal (EOD). Recent Findings The paper explores separately robotic missions for identification and classification of threats lying on the seabed (e.g. EOD) and anti-intrusion robotic systems. The current main scientific challenge is identified in terms of enhancing autonomy and team/swarm mission capabilities by improving interoperability among robotic vehicles and providing communication networking capabilities, a non-trivial task, giving the severe limitations in bandwidth and latency of acoustic underwater messaging. Summary The work is intended to be a critical guide to the recent prolific bibliography on the topic, providing pointers to the main recent advancements in the field, and to give also a set of references in terms of mission and stakeholders’ requirements (port authorities, coastal guards, navies).
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Sayed, Mohammed, Markus Nemitz, Simona Aracri, Alistair McConnell, Ross McKenzie y Adam Stokes. "The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub". Sensors 18, n.º 10 (16 de octubre de 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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Drobin, P. V. y I. A. Galkin. "Results of a military-technical experiment to build a rapidly deployable underwater lighting system using robotic systems and innovative hydroacoustic devices". Innovatics and Expert Examination, n.º 1(31) (18 de junio de 2021): 182–88. http://dx.doi.org/10.35264/1996-2274-2021-1-182-188.
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The results of a military-technical experiment on the construction of a rapidly deployable underwater lighting system using robotic systems and innovative hydroacoustic devices are presented. Scientific and technological problems are identified and directions for further work on the creation of a promising system of technical support and the development of methods for the operation of marine robotic systems in the course of their group use, including in the far sea zone, are identified.
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Agarwala, Nitin. "Monitoring the Ocean Environment Using Robotic Systems: Advancements, Trends, and Challenges". Marine Technology Society Journal 54, n.º 5 (1 de septiembre de 2020): 42–60. http://dx.doi.org/10.4031/mtsj.54.5.7.
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AbstractScientists are able to gain a substantial understanding of various environmental processes (e.g., physical, chemical, or biological parameters) through environmental sensing and monitoring. Most of these monitoring scenarios involve large environmental space and require a considerable amount of work and time for collecting the required data. Realizing the associated human effort, the data collection process was automated, to some extent, by providing wireless communication capabilities to the sensors. However, with the sensing environments increasing demographically, the location of the sensors moved far apart, necessitating additional relay nodes. This made data collection time consuming and complex. In order to simplify the effort towards data collection by reducing the human involvement to a minimum and to reduce power requirement of the sensors for data transmission, thereby increasing their life, use of marine robotic systems has been experimented with successfully. This article aims to discuss the advancements, trends, and challenges of marine robotic systems for environmental monitoring.
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Красильников, Р. В. y С. С. Жарова. "Mathematical modeling in the process of designing launch systems for marine robotic systems". MORSKIE INTELLEKTUAL`NYE TEHNOLOGII)</msg>, n.º 4(54) (2 de diciembre de 2021): 238–44. http://dx.doi.org/10.37220/mit.2021.54.4.058.
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Одним из востребованных направлений в современном развитии передовых в техническом плане стран является создание робототехнических систем и комплексов разного базирования. Одним из приоритетных направлений использования телеуправляемых необитаемых подводных аппаратов остаются поисковые работы, связанные с обнаружением и обследованием подводных объектов. Актуальность данных работ определяется расширением областей применения аппаратов, в том числе в Арктическом регионе России в рамках работ по освоению континентального шельфа. В статье раскрыт общий методологический подход к проектированию пусковых систем, согласованный с требованиями нормативных документов, определяющих порядок разработки новых образцов техники. Показана роль математического моделирования в рамках процесса создания пусковых систем. В качестве основы методического подхода к математическому моделированию предложен единый математический аппарат обоснования проектных параметров пусковых систем. Показаны рациональные по времени и трудозатратам подходы к оценке адекватности математических моделей процессов пуска, базирующиеся на сравнении экспериментальных и расчетных величин перемещения и ускорений движущихся элементов. One of the demanded directions in the modern development of technically advanced countries is the creation of robotic systems and complexes of various bases. One of the priority areas for the use of remotely controlled unmanned underwater vehicles remains search work related to the detection and examination of underwater objects. The relevance of these works is determined by the expansion of the areas of application of the vehicles, including in the Arctic region of Russia as part of the work on the development of the continental shelf. The article discloses a general methodological approach to the design of launch systems, consistent with the requirements of regulatory documents that determine the procedure for the development of new models of equipment. The role of mathematical modeling in the process of creating launch systems is shown. A unified mathematical apparatus for substantiating the design parameters of launch systems is proposed as the basis for a methodological approach to mathematical modeling. The rational in terms of time and labor costs approaches to assessing the adequacy of mathematical models of start-up processes, based on a comparison of experimental and calculated values of displacement and acceleration of moving elements, are shown.
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Kabanov, Aleksey y Vadim Kramar. "Marine Internet of Things Platforms for Interoperability of Marine Robotic Agents: An Overview of Concepts and Architectures". Journal of Marine Science and Engineering 10, n.º 9 (10 de septiembre de 2022): 1279. http://dx.doi.org/10.3390/jmse10091279.
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The creation of a Marine Internet of Things platform, including the Underwater Internet of Things, is needed to ensure the interaction and digital navigation of heterogeneous marine robotic agents. It is necessary to combine the following robotic agents: autonomous underwater vehicles, remotely operated vehicles, active and passive marine sensors, buoys, underwater sonar stations, coastal communication posts, and other elements of the platform. To ensure the interaction of all these elements, it is necessary to use a common communication system within the platform, as well as a common navigation and control system to solve complex problems of the navigation and control of the movement of robotic agents in order to implement a joint mission to collect and transmit data, including video information in real time. The architecture of the Marine Internet of Things platform must first be defined in order to use a unified approach to data exchange. This article provides an overview of approaches to determining the architectures of network underwater and marine communication systems based on the concept of the Internet of Things. This paper provides a comprehensive study of MIoT applications, challenges, and architectures. The main contributions of this paper are summarized as follows: we introduce potential MIoT applications; we point out the challenges of MIoT (i.e., the differences between MIoT and IoT); and we analyze the MIoT system architecture.
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Scaglia, Gustavo, Emanuel Serrano, Andres Rosales y Pedro Albertos. "Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications". Mathematical Problems in Engineering 2019 (19 de agosto de 2019): 1–15. http://dx.doi.org/10.1155/2019/8643515.
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In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.
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Abaroa-Pérez, B., G. Sánchez-Almeida, J. J. Hernández-Brito y D. Vega-Moreno. "In Situ Miniaturised Solid Phase Extraction (m-SPE) for Organic Pollutants in Seawater Samples". Journal of Analytical Methods in Chemistry 2018 (2018): 1–6. http://dx.doi.org/10.1155/2018/7437031.
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Solid phase extraction (SPE) is a consolidated technique for determining pollutants in seawater samples. The current tendency is to miniaturise systems that extract and determine pollutants in the environment, reducing the use of organic solvents, while maintaining the quality in the extraction and preconcentration. On the other hand, there is a need to develop new extraction systems that can be fitted to in situ continual monitoring buoys, especially for the marine environment. This work has developed a first model of a low-pressure micro-SPE (m-SPE) for persistent organic pollutants (POPs) that can be simply applied to in situ monitoring in the marine environment. This system reduces the volumes of sample and solvents required in the laboratory in comparison with conventional SPE. In the future, it could be used in automated or robotic systems in marine technologies such as marine gliders and oceanographic buoys. This system has been optimised and validated to determine polycyclic aromatic hydrocarbons (PAH) in seawater samples, but it could also be applied to other kinds of persistent organic pollutants (POPs) and emerging pollutants.
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Andersen, Rasmus, Rune Brogaard y Evangelos Boukas. "Autonomous Robotic Inspection for Remote Inspection Technique Systems: A Review". Field Robotics 3, n.º 1 (20 de enero de 2023): 69–96. http://dx.doi.org/10.55417/fr.2023002.
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Due to the harsh environment and heavy use that modern marine vessels are subjected to, they are required to undergo periodic inspections to determine their current condition. The use of autonomous remote inspection systems can alleviate some of the dangers and shortcomings associated with manual inspection. While there has been research on the use of robotic platforms, none of the works in the literature evaluates the current state of the art with respect to the specifications of the classification societies, who are the most important stakeholders among the end users. The aim of this paper is to provide an overview of the existing literature and evaluate the works individually in collaboration with classification societies. The papers included in this review are either directly developed for, or have properties potentially transferable to, the marine vessel inspection process. To structure the review, an expertise-engineering separation is proposed based on the contributions of the individual paper. This separation shows which part of the inspection process has received the most attention, as well as where the shortcomings of each approach lay. The findings in this review indicate that while there are promising approaches, according to our metrics there is still a gap between the classification societies’ requirements and the state of the art. Our results indicate that, even though there is a lot of quality work in the literature, there is a lack of integrated development activities that achieve a level of completeness sufficient for the classification societies to confidently use them.
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Alekseev, A. V., D. O. Kupriyanov, I. D. Stefanovich y Yu M. Zavedeev. "Analysis of intelligent information security management technologies of marine integrated automated systems". Transactions of the Krylov State Research Centre S-I, n.º 1 (8 de diciembre de 2021): 196–98. http://dx.doi.org/10.24937/2542-2324-2021-1-s-i-196-198.
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SWOT analysis of intelligent decision support technologies and automatic information security management systems of the SGRC class of marine integrated automated systems was performed. The priority of this class of technologies in solving the most urgent problem of ensuring information security of ships, port equipment, navigation support systems, management of ports and shipping companies is shown. The variant of integration of SOC technologies with SUPRU for the purpose of effective monitoring and visualization of system indicators of quality of management is offered that will allow to pass practically to the robotic mode of management of complex safety.
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Gurenko, Boris, Roman Fedorenko, Maksim Beresnev y Roman Saprykin. "Development of Simulator for Intelligent Autonomous Underwater Vehicle". Applied Mechanics and Materials 799-800 (octubre de 2015): 1001–5. http://dx.doi.org/10.4028/www.scientific.net/amm.799-800.1001.
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Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.
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Vedachalam, Narayanaswamy y Gidugu Ananda Ramadass. "Design Considerations for Deep-Ocean Scientific Robotic Vehicles". Marine Technology Society Journal 55, n.º 5 (1 de septiembre de 2021): 231–45. http://dx.doi.org/10.4031/mtsj.55.5.20.
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Abstract Oceans cover 72% of the Earth's surface, house immense living and non-living resources, and play a key role in regulating the planet's climate. Robotic vehicles are essential for exploring vast deep-ocean resources, spatiotemporal monitoring of oceans to understand the patterns of climate change, monitoring marine pollution, providing defense, and identifying assets lost in the oceans. The article discusses key design considerations for realizing safe, reliable, and efficient deep-ocean unmanned and manned robotic vehicles capable of operating in challenging environments characterized by high hydrostatic pressure, low temperature, salinity, darkness, dynamic medium, and soft seabed conditions. Strategic technologies to enable cost-effective and increased spatiotemporal monitoring including homing and docking stations, autonomous intervention vehicles, swarm robotic systems, and bio-inspired vehicle designs are discussed.
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Iakovleva, E. V. y B. A. Momot. "Development of technology for creating intelligent control systems for power plants and propulsion systems for marine robotic systems". IOP Conference Series: Earth and Environmental Science 87 (octubre de 2017): 032010. http://dx.doi.org/10.1088/1755-1315/87/3/032010.
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Fitzpatrick, Laura M., A. Zachary Trimble y Brian S. Bingham. "VERIFICATION OF A MARINE POLLUTANT SURFACE PLUME MODEL FOR USE IN THE DEVELOPMENT OF AUTONOMOUS VEHICLE TRACKING SYSTEMS". International Oil Spill Conference Proceedings 2017, n.º 1 (1 de mayo de 2017): 1612–28. http://dx.doi.org/10.7901/2169-3358-2017.1.1612.
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ABSTRACT A marine pollutant spill environmental model that can accurately predict fine scale pollutant concentration variations on a free surface is needed in early stages of testing robotic control systems for tracking pollutant spills. The model must reproduce, for use in a robotic control system simulation environment, the fine-scale surface concentration variations observed by a robot. Furthermore, to facilitate development of robotic control systems, the model must reproduce sample spill distributions in minimal computational time. A combination Eulerian-Lagrangian type model, with two tuning parameters, was developed to produce, with minimal computational effort, the fine scale concentrations that would be observed by a robot. Multiple model scenarios were run with different tuning parameters to determine the effects of those parameters on the model’s ability to reproduce an experimental measured pollutant plume’s structure. A qualitative method for analyzing the concentration variations was established using amplitude and temporal statistical parameters. The differences in the statistical parameters between the model and experiment vary from 69%–316%. After tuning, the model produces a sample spill, which includes a high frequency concentration component not observed in the experimental data, but that generally represents the real-time, fine scale pollutant plume structure and can be used for testing control algorithms.
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Feder, Judy. "JIP Drives New Ways of Managing Integrity of Floating Oil and Gas Assets". Journal of Petroleum Technology 73, n.º 04 (1 de abril de 2021): 37–38. http://dx.doi.org/10.2118/0421-0037-jpt.
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This article, written by JPT Technology Editor Judy Feder, contains highlights of paper OTC 30425, “Innovative Asset-Integrity Management To Drive Operational Effectiveness,” by Danny Constantinis and Peter Davies, EM&I, prepared for the 2020 Offshore Technology Conference Asia, originally scheduled to be held in Kuala Lumpur, Malaysia, 17–19 August. The paper has not been peer reviewed. Copyright 2020 Offshore Technology Conference. Reproduced by permission. While the focus on the growing floating gas industry is firmly on output, the industry needs to ensure safety, compliance, and profitability of high-value, complex, floating gas assets, some of which operate close to high population densities. Effective asset-integrity programs are a key part of such an effort, and it is widely agreed that better use of data and robotics will help reduce unnecessary work and human risk. The complete paper describes a joint industry approach for addressing asset-integrity management challenges that has proved successful for floating production, storage, and offloading vessels (FPSOs). Introduction Managing the integrity of offshore, near-shore, and berthed floating oil and gas assets faces numerous challenges, including the following: - Long service lives - The need to cut operating costs - Varying asset-integrity requirements of marine and process equipment - Growing global demand for gas - Increasing requirement to drive down carbon emissions - The need for enhanced sustainability Traditional cost-reduction strategies of prior lean market periods are no longer accepted by the industry, which the authors say needs to implement permanent cost reductions, increased sustainability and efficiency, and improved safety. These can be achieved only by new ways of managing asset integrity, targeted at consistent low price and efficiencies and developed, supported, and accepted by all sectors of the industry. Role of the Joint Industry Project (JIP) The Hull Inspection Techniques and Strategy (HITS) JIP has encouraged such innovations. The complete paper describes new methods facilitated by HITS that include diverless inspections of hulls and mooring systems and remote, unmanned methods of inspecting confined spaces such as cargo and water ballast tanks. Organizations such as the HITS JIP, whose membership includes oil majors, service providers, classification societies, and regulators, and the FPSO Research Forum, of which HITS is a part, have helped define the direction for improvements in inspecting, maintaining, and repairing floating production assets. These organizations have encouraged the development of new technologies that have improved safety and reduced operational costs. According to the paper’s authors, this direction has also shaped the drilling sector, can do the same for floating liquified natural gas (FLNG) and floating storage and regasification units (FSRU), and could potentially expand into floating renewable-energy-production assets. These and similar concepts are now being taken forward in a floating gas (FloGas) JIP.
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Masmitja, I., J. Navarro, S. Gomariz, J. Aguzzi, B. Kieft, T. O’Reilly, K. Katija et al. "Mobile robotic platforms for the acoustic tracking of deep-sea demersal fishery resources". Science Robotics 5, n.º 48 (25 de noviembre de 2020): eabc3701. http://dx.doi.org/10.1126/scirobotics.abc3701.
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Knowing the displacement capacity and mobility patterns of industrially exploited (i.e., fished) marine resources is key to establishing effective conservation management strategies in human-impacted marine ecosystems. Acquiring accurate behavioral information of deep-sea fished ecosystems is necessary to establish the sizes of marine protected areas within the framework of large international societal programs (e.g., European Community H2020, as part of the Blue Growth economic strategy). However, such information is currently scarce, and high-frequency and prolonged data collection is rarely available. Here, we report the implementation of autonomous underwater vehicles and remotely operated vehicles as an aid for acoustic long-baseline localization systems for autonomous tracking of Norway lobster (Nephrops norvegicus), one of the key living resources exploited in European waters. In combination with seafloor moored acoustic receivers, we detected and tracked the movements of 33 tagged lobsters at 400-m depth for more than 3 months. We also identified the best procedures to localize both the acoustic receivers and the tagged lobsters, based on algorithms designed for off-the-shelf acoustic tags identification. Autonomous mobile platforms that deliver data on animal behavior beyond traditional fixed platform capabilities represent an advance for prolonged, in situ monitoring of deep-sea benthic animal behavior at meter spatial scales.
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Mandić, Filip, Nikola Mišković, Narcís Palomeras, Marc Carreras y Guillem Vallicrosa. "Mobile beacon control algorithm that ensures observability in single range navigation**This work is supported by the European Commission under the FP7–ICT project ”CADDY – Cognitive Autonomous Diving Buddy” (Grant Agreement No. 611373) and ARCHROV project (DPI2014-57746-C3-3-R). Joint results were obtained as a result of staff exchange within H2020–TWINNING project ”EXCELLABUST - Excelling LABUST in Marine Robotics” (Grant Agreement No. 691980). Filip Mandic is financed by the Croatian Science Foundation through the Project for the young researcher career development." IFAC-PapersOnLine 49, n.º 23 (2016): 48–53. http://dx.doi.org/10.1016/j.ifacol.2016.10.320.
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