Design and control of underwater hybrid vehicle capable of performing numerous tasks

IF 1.2 Q3 ENGINEERING, MARINE

Journal of Naval Architecture and Marine Engineering Pub Date : 2018-12-29 DOI:10.3329/JNAME.V15I2.36890

K. Shahani, C. Wu, R. Persaud, H. Song

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引用次数: 0

Abstract

This paper is about Ocean Strider; an Underwater Hybrid Vehicle that is modified with hybrid (manual and autonomous) control system. The aims concerning this Underwater Hybrid Vehicle are to be competent to operate underwater by using remote control via operator and seek out the user interested objects, and in case of autonomously to be smart, to visually follow and manage a secured position comparable to a motionless target, and to visually follow and move behind a moving target and avoid the hindrances for reliable navigation. Vision is a fundamental root that promotes the underwater robot to execute various tasks autonomously. Ocean Strider is intelligent to explicitly identify and locate objects by specifying from distinct color codes and dimension of the objects and respond accordingly. Multiple experiments have been conducted in the laboratory the robot successfully operates manually and grasp the objects underwater, and the robot can locate and track the objects autonomously, secure a fixed distance to the fixed object and travel onward with the object as it moves.

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多任务水下混合动力航行器的设计与控制

这篇论文是关于“海洋漫游者”的；一种水下混合动力车，采用混合（手动和自动）控制系统进行改装。该水下混合动力车的目标是能够通过操作员使用遥控器在水下操作并寻找用户感兴趣的物体，并且在自主智能的情况下，能够在视觉上跟踪和管理与静止目标相当的安全位置，并且在视觉上跟随移动目标并在移动目标后面移动，并且避开障碍物以进行可靠导航。视觉是促使水下机器人自主执行各种任务的根本原因。Ocean Strider是一款智能手机，可以通过指定不同的颜色代码和物体的尺寸来明确识别和定位物体，并做出相应的响应。实验室已经进行了多项实验——机器人成功地手动操作并抓住水下物体，机器人可以自主定位和跟踪物体，确保与固定物体保持固定距离，并在物体移动时随物体向前移动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Naval Architecture and Marine Engineering ENGINEERING, MARINE-

CiteScore

2.50

自引率

5.60%

发文量

审稿时长

20 weeks

期刊介绍： TJPRC: Journal of Naval Architecture and Marine Engineering (JNAME) is a peer reviewed journal and it provides a forum for engineers and scientists from a wide range of disciplines to present and discuss various phenomena in the utilization and preservation of ocean environment. Without being limited by the traditional categorization, it is encouraged to present advanced technology development and scientific research, as long as they are aimed for more and better human engagement with ocean environment. Topics include, but not limited to: marine hydrodynamics; structural mechanics; marine propulsion system; design methodology & practice; production technology; system dynamics & control; marine equipment technology; materials science; under-water acoustics; satellite observations; and information technology related to ship and marine systems; ocean energy systems; marine environmental engineering; maritime safety engineering; polar & arctic engineering; coastal & port engineering; aqua-cultural engineering; sub-sea engineering; and specialized water-craft engineering. International Journal of Naval Architecture and Ocean Engineering is published quarterly by the Society of Naval Architects of Korea. In addition to original, full-length, refereed papers, review articles by leading authorities and articulated technical discussions of highly technical interest are also published.