Дисертації з теми "Marine sensing and underwater robotics"
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Leborne, François. "Contributions à la commande de bras manipulateurs de robot sous-marin pour la manipulation à grande profondeur d'échantillons biologiques déformables." Thesis, Montpellier, 2018. http://www.theses.fr/2018MONTS044/document.
Повний текст джерелаThe research carried out in the scope of this doctorate degree aims to develop innovative techniques to improve the collection of biological and mineral samples underwater using robotic manipulators. The end goal is to enhance the handling by robotic means in order to maximise sample quality provided to marine scientists. The proposed techniques are based on an in-depth analysis of the robotic arm actuators used in most recent underwater intervention vehicles, in order to improve the accuracy of the positionning of the tools held by the manipulator arms. An instrumented tool has also been developed with the aim to measure the reaction forces and adapt the interaction between the arm's end-effector and its environment to improve samples handling. These methods and the other contributions described in this thesis have been experimentally validated using Ifremer's hybrid-ROV Ariane equipped with two electrically actuated heterogeneous robotic arms
Andresen, Simen. "Underwater Robotics : control of marine manipulator-vehicle systems." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25875.
Повний текст джерелаMaalouf, Divine. "Contribution to nonlinear adaptive control of low inertia underwater robots." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20196/document.
Повний текст джерелаUnderwater vehicles have gained an increased interest in the last decades given the multiple tasks they can accomplish in various fields, ranging from scientific to industrial and military applications. In this thesis, we are particularly interested in the category of vehicles having a high power to weight ratio. Different challenges in autonomous control of such highly unstable systems arise from the inherent nonlinearities and the time varyingbehavior of their dynamics. These challenges can be increased by the low inertia of this class of vehicles combined with their powerful actuation. A self tuning controller is therefore required in order to avoid any performance degradation during a specific mission. The closed-loop system is expected to compensate for different kinds of disturbances or changes in the model parameters. To solve this problem, we propose in this work the design,analysis and experimental validation of different control schemes on an underwater vehicle. Classical methods are initially proposed, namely the PID controller and the nonlinear adaptive state feedback (NASF) one, followed by two more advanced schemes based on the recently developed L1 adaptive controller. This last method stands out among the other developed ones in its particular architecture where robustness and adaptation are decoupled. In this thesis, the original L1 adaptive controller has been designed and successfullyvalidated then an extended version of it is proposed in order to deal with the observed time lags occurring in presence of a varying reference trajectory. The stability of this latter controller is then analysed and real-time experimental results for different operating conditions are presented and discussed for each proposed controller, assessing their performance and robustness
Muzi, Lanfranco. "Advances in Autonomous-Underwater-Vehicle Based Passive Bottom-Loss Estimation by Processing of Marine Ambient Noise." PDXScholar, 2015. https://pdxscholar.library.pdx.edu/open_access_etds/2612.
Повний текст джерелаFerrera, Maxime. "Monocular Visual-Inertial-Pressure fusion for Underwater localization and 3D mapping." Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS089.
Повний текст джерелаThis thesis addresses the problem of real-time 3D localization and mapping in underwater environments.In the underwater archaeology field, Remotely Operated Vehicles (ROVs) are used to conduct deep-seasurveys and excavations. Providing both accurate localization and mapping information in real-time iscrucial for manual or automated piloting of the robots. While many localization solutions already existfor underwater robots, most of them rely on very accurate sensors, such as Doppler velocity logs or fiberoptic gyroscopes, which are very expensive and may be too bulky for small ROVs. Acoustic positioningsystems are also commonly used for underwater positioning, but they provide low frequencymeasurements, with limited accuracy.In this thesis, we study the use of low-cost sensors for accurate underwater localization. Our studyinvestigates the use of a monocular camera, a pressure sensor and a low-cost MEMS-IMU as the onlymeans of performing localization and mapping in the context of underwater archaeology.We have conducted an evaluation of different features tracking methods on images affected by typicaldisturbances met in an underwater context. From the results obtained with this evaluation, we havedeveloped a monocular Visual SLAM (Simultaneous Localization and Mapping) method, robust to thespecific disturbances of underwater environments. Then, we propose an extension of this method totightly integrate the measurements of a pressure sensor and an IMU in the SLAM algorithm. The finalmethod provides a very accurate localization and runs in real-time. In addition, an online dense 3Dreconstruction module, compliant with a monocular setup, is also proposed. Two lightweight and compactprototypes of this system have been designed and used to record datasets that have been publiclyreleased. Furthermore, these prototypes have been successfully used to test and validate the proposedlocalization and mapping algorithms in real-case scenarios
Carlési, Nicolas. "Coopération entre véhicules sous-marins autonomes : une approche organisationnelle réactive multi-agent." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20092.
Повний текст джерелаUnderwater marine applications are nowadays branching into various fields covering larger and deeper zones. Performing the required tasks with the aid of AUV flotillas is a real challenge. However, the advantages of using such a new technology are numerous. Firstly, this would highly reduce the cost of the mission thanks to the distribution of this former among the various AUV: the loss of one AUV or its bad functioning will not degrade the performance of the flotilla in general. Secondly, the use of a flotilla reduces the execution time of a mission given the parallelization of certain tasks. Finally, any mission can be accomplished by the flotilla by taking into consideration the specificity of each AUV. In fact, each of these vehicles holds different characteristics rendering the global architecture heterogeneous and therefore applicable in different contexts. However, the methods concerned with multi-AUV cooperation are hindered by two main limitations: (1) the number of communications induced and (2) the management of the heterogeneity in the flotilla.The proposed approach aims at responding to these challenges. The principal idea is to combine this reactive cooperational approach with an organizational one. The reactive cooperational approach allows the exchange of simple communication signals. However, it does not help in solving the problems of cooperation that are very constrained and that mainly concern the spatial coordination of homogeneous vehicles. The first contribution in this thesis is the extension of the satisfaction-altruism approach. A new reactive decisional mechanism capable of considering the cooperative actions of various natures is proposed. The second contribution consists in specifying the context of reactive interactions based on an organizational approach. The organizational model Agent/Group/Role is used in order to have an explicit representation of the flotilla. The concepts of "group" and especially "role" are used in the attribution of the communication signals allowing the accomplishment of heterogeneous interactions with a big modularity. A new concept is therefore born and is integrated in a new software architecture called REMORA intended to equip autonomous underwater vehicles. This proposed new method has been validated through various numerical simulations in different scenarios putting at stake heterogeneous AUV
Le, Mézo Thomas. "Bracketing largest invariant sets of dynamical systems : an application to drifting underwater robots in ocean currents." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2019. http://www.theses.fr/2019ENTA0012.
Повний текст джерелаThe proof of safety of robotic systems is afundamental issue for the development of robotics. Itconsists, for instance, in verifying that a robot controllaw will always satisfy a set of constraints. More gen-erally, we will be interested here in the verificationof the properties of dynamical systems that allow tomodel the evolution of a robot.The main contribution of this thesis is to providea new way of bracketing invariant sets of dynami-cal systems. To this end, a new abstract domain, themazes, and new algorithms are presented. It is alsoshown, through many examples, how classic valida-tion problems can be translated into a problem ofbracketing invariant sets. Finally, the results are ex-tended to the bracket of viability kernels.This thesis is also based on an application in un-derwater robotics. The main idea is to use oceancurrents so that an underwater robot can efficientlytravel long distances. A new kind of low-cost au-tonomous robot has been developed for this type ofmission. This new hybrid profiling float is able to reg-ulate its depth with a new regulation law, but also tocorrect its trajectory using auxiliary thrusters. Theyallow the robot to choose the right flow of current tobe used. The previously introduced validation toolsare applied to validate the robot and the missionsafety. Experiments in real conditions also enabledthe prototype to be validated
Vega, Emanuel Pablo. "Conception orientée-tâche et optimisation de systèmes de propulsion reconfigurables pour robots sous-marins autonomes." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0067/document.
Повний текст джерелаIn this PhD thesis, the optimization of the propulsion and control of AUVs is developed. The hydrodynamic model of the AUVs is examined. Additionally, AUV propulsion topologies are studied and models for fixed and vectorial technology are developed. The fixed technology model is based on an off the shelf device, while the modeled vectorial propulsive system is based on a magnetic coupling thruster prototype developed in IRDL (Institut de Recherche Dupuy de Lôme) at ENI Brest. A control method using the hydrodynamic model is studied, its adaptation to two AUV topologies is presented and considerations about its applicability will be discussed. The optimization is used to find suitable propulsive topologies and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used for task-based design.The results of the optimization can be used as a preliminary stage in the design process of an AUV, giving ideas for enhanced propulsive configurations. The optimization technique is also applied to an IRDL existing robot, modifying only some of the propulsive topology parameters in order to readily adapt it to different tasks, making the AUV dynamically reconfigurable
Lasbouygues, Adrien. "Exploration robotique de l’environnement aquatique : les modèles au coeur du contrôle." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS078/document.
Повний текст джерелаUnderwater robots can nowadays operate in complex environments in a broad scope of missions where the use of human divers is difficult for cost or safety reasons. However the complexity of aquatic environments requires to give the robotic vector an autonomy sufficient to perform its mission while preserving its integrity. This requires to design control laws according to application requirements. They are built on knowledge from several scientific fields, underlining the interdisciplinarity inherent to robotics. Once the control law designed, it must be implemented as a control Software working on a real-time Software architecture.Nonetheless the current conception of control laws, as "monolithic" blocks, makes difficult the adaptation of a control from an application to another and the integration of knowledge from various scientific fields which are often not fully understood by control engineers. It also penalizes the implementation of control on Software architectures, at least its modularity and evolution. To solve those problems we seek a proper separation of knowledge so that each knowledge item can be easily used, its role precisely defined and we want to reify the interactions between them. Moreover this will allow us a more efficient projection on the Software architecture. We thus propose a new formalism for control laws description as a modular composition of basic entities named Atoms used to encapsulate the knowledge items.We also aim at building a better synergy between control and software engineering based on shared concerns such as temporal constraints and stability. Hence we extend the definition of our Atoms with constraints carrying information related to their temporal behaviour. We propose as well a methodology relying on our formalism to guide the implementation of control on a real-time Middleware. We will focus on the ContrACT Middleware developed at LIRMM.Finally we illustrate our approach on several robotic functionalities that can be used during aquatic environments exploration and especially for wall avoidance during the exploration of a karst aquifer
Lanneau, Sylvain. "Localisation et estimation basées modèle d’un objet ellipsoidal avec le sens électrique artificiel." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2017. http://www.theses.fr/2017IMTA0030/document.
Повний текст джерелаThe aim of this thesis is to contribute to the underwater perception for robotics applications using an electric field. We propose new methods for the inspection, the localization and the shape estimation of an ellipsoidal object using a sensor inspired by the weakly electric fish. Firstly, we show that the object can be detected and its material and position relative to the sensor axis discriminated, using simple threshold detections on the measured currents. Then, we propose the successive implementations of three reactive control laws allowing the sensor to head for the object and revolve around it by following its boundaries. After that, we use the MUSIC algorithm in order to localize the object’s center. Finally, the geometrical parameters of the object and its orientation are estimated thanks to an optimization algorithm based on the least squares method and the inversion of the analytical model of the polarization tensor of an ellipsoidal object. We show that these algorithms can be experimentally implemented. For the localization and the shape estimation algorithms, some additional techniques involving sensor movements are proposed in order to significantly reduce the imprecisions due to the gap between the model and the actual currents’ measurements
Meyer, Matthias. "The adjoint method of optimal control for the acoustic monitoring of a shallow water environment." Doctoral thesis, Universite Libre de Bruxelles, 2007. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210610.
Повний текст джерелаDespite the variety of applications in these research fields, adjoint methods have only very recently drawn attention from the ocean acoustics community. In ocean acoustic tomography and geoacoustic inversion, where the inverse problem is to recover unknown acoustic properties of the water column and the seabed from acoustic transmission data, the solution approaches are typically based on travel time inversion or standard matched-field processing in combination with metaheuristics for global optimization.
In order to complement the adjoint schemes already in use in meteorology and oceanography with an ocean acoustic component, this thesis is concerned with the development of the adjoint of a full-field acoustic propagation model for shallow water environments.
In view of the increasing importance of global ocean observing systems such as the European Seas Observatory Network, the Arctic Ocean Observing System and Maritime Rapid Environmental Assessment (MREA) systems for defence and security applications, the adjoint of an ocean acoustic propagation model can become an integral part of a coupled oceanographic and acoustic data assimilation scheme in the future.
Given the acoustic pressure field measured on a vertical hydrophone array and a modelled replica field that is calculated for a specific parametrization of the environment, the developed adjoint model backpropagates the mismatch (residual) between the measured and predicted field from the receiver array towards the source.
The backpropagated error field is then converted into an estimate of the exact gradient of the objective function with respect to any of the relevant physical parameters of the environment including the sound speed structure in the water column and densities, compressional/shear sound speeds, and attenuations of the sediment layers and the sub-bottom halfspace. The resulting environmental gradients can be used in combination with gradient descent methods such as conjugate gradient, or Newton-type optimization methods tolocate the error surface minimum via a series of iterations. This is particularly attractive for monitoring slowly varying environments, where the gradient information can be used to track the environmental parameters continuously over time and space.
In shallow water environments, where an accurate treatment of the acoustic interaction with the bottom is of outmost importance for a correct prediction of the sound field, and field data are often recorded on non-fully populated arrays, there is an inherent need for observation over a broad range of frequencies. For this purpose, the adjoint-based approach is generalized for a joint optimization across multiple frequencies and special attention is devoted to regularization methods that incorporate additional information about the desired solution in order to stabilize the optimization process.
Starting with an analytical formulation of the multiple-frequency adjoint approach for parabolic-type approximations, the adjoint method is progressively tailored in the course of the thesis towards a realistic wide-angle parabolic equation propagation model and the treatment of fully nonlocal impedance boundary conditions. A semi-automatic adjoint generation via modular graph approach enables the direct inversion of both the geoacoustic parameters embedded in the discrete nonlocal boundary condition and the acoustic properties of the water column. Several case studies based on environmental data obtained in Mediterranean shallow waters are used in the thesis to assess the capabilities of adjoint-based acoustic inversion for different experimental configurations, particularly taking into account sparse array geometries and partial depth coverage of the water column. The numerical implementation of the approach is found to be robust, provided that the initial guesses are not too far from the desired solution, and accurate, and converges in a small number of iterations. During the multi-frequency optimization process, the evolution of the control parameters displays a parameter hierarchy which clearly relates to the relative sensitivity of the acoustic pressure field to the physical parameters.
The actual validation of the adjoint-generated environmental gradients for acoustic monitoring of a shallow water environment is based on acoustic and oceanographic data from the Yellow Shark '94 and the MREA '07 sea trials, conducted in the Tyrrhenian Sea, south of the island of Elba.
Starting from an initial guess of the environmental control parameters, either obtained through acoustic inversion with global search or supported by archival in-situ data, the adjoint method provides an efficient means to adjust local changes with a couple of iterations and monitor the environmental properties over a series of inversions.
In this thesis the adjoint-based approach is used, e.g. to fine-tune up to eight bottom geoacoustic parameters of a shallow-water environment and to track the time-varying sound speed profile in the water column.
In the same way the approach can be extended to track the spatial water column and bottom structure using a mobile network of sparse arrays.
Work is currently being focused on the inclusion of the adjoint approach into hybrid optimization schemes or ensemble predictions, as an essential building block in a combined ocean acoustic data assimilation framework and the subsequent validation of the acoustic monitoring capabilities with long-term experimental data in shallow water environments.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished
"Coordinated Navigation and Localization of an Autonomous Underwater Vehicle Using an Autonomous Surface Vehicle in the OpenUAV Simulation Framework." Master's thesis, 2020. http://hdl.handle.net/2286/R.I.62789.
Повний текст джерелаDissertation/Thesis
Masters Thesis Computer Science 2020
Lu, Yimeng. "A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles." Thesis, 2018. http://hdl.handle.net/10754/627955.
Повний текст джерела(10667433), Brian Rate Page. "Persistent Autonomous Maritime Operation with an Underwater Docking Station." Thesis, 2021.
Знайти повний текст джерелаΣούρα, Κωνσταντίνα. "Εφαρμογές των θαλάσσιων γεωφυσικών μεθόδων στην ενάλια αρχαιολογία: Νήσος Pag, Κροατία". Thesis, 2013. http://hdl.handle.net/10889/6332.
Повний текст джерелаMarine geophysical techniques can be successfully applied to underwater archaeology, speeding up survey and making it possible to detect features of archaeological interest lying on the seafloor or embedded in sediments even beyond conventional diving limits. There are two general approaches regarding the application of these techniques in underwater archaeology: they are being used to identify, locate and map (a) ancient shipwrecks and (b) submerged sites of archaeological interest (ancient settlements, ports, man-made structures and palaeo-shorelines), thus enabling the palaeogeographic reconstruction of coastal areas. The applicability of marine remote sensing techniques in underwater archaeology is high-lighted through the current study case. In the framework of the geo-archaeological research project “Cissa Antiqua”, directed by the University of Zadar and Centre Camille Jullian (CNRS) a detailed marine remote sensing survey was carried out by the Laboratory of Marine Geology and Physical Oceanography of the University of Patras in Caska bay, Pag island, Croatia. The data collected by high resolution 3.5kHz subbottom profiling and towed E.G&G dual frequency (100 & 500kHz) side-scan sonar system have been analysed for the objectives of this study. According to the 3.5kHz profiles, the upper 12m of sediments consist of three distinct seismic sequences overlapping the gentle folded acoustic basement. The results of the seismic data in correlation to the present coastal geomorphology of the area suggest that these sequences correspond to phases of inundation by brackish water, before sea-water flooded the gulf, as consequence of the rapid sea-level rise of the Holocene. Furthermore, archaeological and geological data of the area suggest an episodical co-seismic submergence during the last 2 kyrs. The side-scan sonar survey revealed a large number of targets lying on the seafloor. Six of them have been selected by TargaAn software as targets of potential archaeological interest.