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2017 IEEE Underwater Technology (UT)最新文献

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System identification of hovering type AUV using Kinematic model based neural network 基于运动学模型的悬停型AUV系统辨识
2017 IEEE Underwater Technology (UT) Pub Date : 2017-02-23 DOI: 10.1109/UT.2017.7890319
H. Roh, Juhyun Pyo, Minsung Sung, Son-cheol Yu
{"title":"System identification of hovering type AUV using Kinematic model based neural network","authors":"H. Roh, Juhyun Pyo, Minsung Sung, Son-cheol Yu","doi":"10.1109/UT.2017.7890319","DOIUrl":"https://doi.org/10.1109/UT.2017.7890319","url":null,"abstract":"In this paper, we proposed identification methods for hovering type Autonomous underwater vehicle (AUV) based on neuro fuzzy network. We conducted sea trial using Cyclops which is hovering type AUV. [1] We verified the proposed identification method from the sea trial.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130768058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Panel-based bathymetric SLAM with a multibeam echosounder 带有多波束回声测深仪的面板式测深SLAM
2017 IEEE Underwater Technology (UT) Pub Date : 2017-02-23 DOI: 10.1109/UT.2017.7890321
Taeyun Kim, Jinwhan Kim
{"title":"Panel-based bathymetric SLAM with a multibeam echosounder","authors":"Taeyun Kim, Jinwhan Kim","doi":"10.1109/UT.2017.7890321","DOIUrl":"https://doi.org/10.1109/UT.2017.7890321","url":null,"abstract":"A bathymetric Simultaneous Localization and Mapping (SLAM) algorithm is presented which is capable of mapping elevation changes in undulating seabed terrain and simultaneously localizing the vehicles position relative to the constructed terrain elevation map. The algorithm enables to marine vehicles navigate and build a map autonomously in a GPS-denied environment. In the proposed formulation, the terrain elevation is represented using a number of rectangular surface panels, and the elevation vectors at four corners of every panel are introduced into map states in the SLAM filter. Experimental results are presented using a underwater surface vehicle (USV) equipped with a multibeam echosounder (MBE) to verify and demonstrate the performance of the proposed algorithm.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128527879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
3D reconstruction of underwater objects using a wide-beam imaging sonar 利用宽波束成像声纳对水下物体进行三维重建
2017 IEEE Underwater Technology (UT) Pub Date : 2017-02-22 DOI: 10.1109/UT.2017.7890306
Sungchur Kwon, Jisung Park, Jinwhan Kim
{"title":"3D reconstruction of underwater objects using a wide-beam imaging sonar","authors":"Sungchur Kwon, Jisung Park, Jinwhan Kim","doi":"10.1109/UT.2017.7890306","DOIUrl":"https://doi.org/10.1109/UT.2017.7890306","url":null,"abstract":"A volumetric representation of three-dimensional (3D) space is important for underwater navigation and mapping. In this study, a systematic 3D reconstruction scheme using a wide-beam imaging sonar is proposed. For efficient 3D reconstruction, an occupancy grid map with an octree structure is employed and a sensor model considering the sensing characteristics of the imaging sonar is introduced. In order to investigate the feasibility of the proposed reconstruction approach, an experiment has been carried out in a water tank.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115335304","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Acoustic beam-based man-made underwater landmark detection method for multi-beam sonar 基于声波束的多波束声纳水下人造地标探测方法
2017 IEEE Underwater Technology (UT) Pub Date : 2017-02-22 DOI: 10.1109/UT.2017.7890329
Juhyun Pyo, Seokyong Song, Son-cheol Yu
{"title":"Acoustic beam-based man-made underwater landmark detection method for multi-beam sonar","authors":"Juhyun Pyo, Seokyong Song, Son-cheol Yu","doi":"10.1109/UT.2017.7890329","DOIUrl":"https://doi.org/10.1109/UT.2017.7890329","url":null,"abstract":"We proposed man-made underwater landmark and acoustic beam-based landmark detection method. Beams in multi-beam sonar are independent each other, and each beam can be assumed as a feature to distinguish interesting area. When beam passes the object, the column array of sonar image is composed highlighted and shadow areas. Using these property, it is possible to recognize the underwater landmark by beam-based detection method. The performance of the proposed method is verified through experimental results, and this method can be applied to autonomous underwater vehicles' navigation.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121249642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Underwater pose estimation relative to planar hull surface using stereo vision 基于立体视觉的船体平面水下姿态估计
2017 IEEE Underwater Technology (UT) Pub Date : 2017-02-21 DOI: 10.1109/UT.2017.7890301
Dongha Chung, Seonghun Hong, Jinwhan Kim
{"title":"Underwater pose estimation relative to planar hull surface using stereo vision","authors":"Dongha Chung, Seonghun Hong, Jinwhan Kim","doi":"10.1109/UT.2017.7890301","DOIUrl":"https://doi.org/10.1109/UT.2017.7890301","url":null,"abstract":"For creating a precise visual map by autonomous ship-hull inspection using an unmanned underwater vehicle, it is a crucial capability for the vehicle (or camera) to maintain a pose relative to the hull surface. In this study, a relative pose estimation algorithm is introduced using a stereo vision system. The proposed approach utilizes 3D point cloud data that can be generated by a sparse feature matching technique between a pair of stereo images. The relative pose information can be obtained by applying a surface normal estimation algorithm for the 3D points. Experimental results using underwater images is shown to verify the practical feasibility of the proposed approach.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123932748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
AUV SLAM using forward/downward looking cameras and artificial landmarks AUV SLAM使用前/下视摄像头和人工地标
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890307
Jongdae Jung, Yeongjun Lee, Donghoon Kim, Donghwa Lee, H. Myung, Hyun-Taek Choi
{"title":"AUV SLAM using forward/downward looking cameras and artificial landmarks","authors":"Jongdae Jung, Yeongjun Lee, Donghoon Kim, Donghwa Lee, H. Myung, Hyun-Taek Choi","doi":"10.1109/UT.2017.7890307","DOIUrl":"https://doi.org/10.1109/UT.2017.7890307","url":null,"abstract":"Autonomous underwater vehicles (AUVs) are usually equipped with one or more optical cameras to obtain visual data of underwater environments. The camera can also be used to estimate the AUV's pose information, along with various navigation sensors such as inertial measurement unit (IMU), Doppler velocity log (DVL), depth sensor, and so on. In this paper, we propose a vision-based simultaneous localization and mapping (SLAM) of AUVs, where underwater artificial landmarks are used to help visual sensing of forward and downward looking cameras. Three types of landmarks are introduced and their detection algorithms are organized in a framework of conventional extended Kalman filter (EKF) SLAM to estimate both robot and landmark states. The proposed method is validated by an experiment performed in a engineering basin. Since DVL suffers from noises in a real ocean environment, we generated synthetic noisy data based on the real sensor data. With this data we verify that the proposed SLAM approach can recover from the erroneous dead reckoning position.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"15 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124469120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 21
Development of the control algorithm for longitudinal motion of underwater construction robot with trenching 水下挖沟施工机器人纵向运动控制算法的研究
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890284
S. Hong, Hyeon-Seok Kang, Hyeung-Sik Choi, Joon-Young Kim
{"title":"Development of the control algorithm for longitudinal motion of underwater construction robot with trenching","authors":"S. Hong, Hyeon-Seok Kang, Hyeung-Sik Choi, Joon-Young Kim","doi":"10.1109/UT.2017.7890284","DOIUrl":"https://doi.org/10.1109/UT.2017.7890284","url":null,"abstract":"This paper present a method of straight path following for trenching works of underwater construction robot. First of all, deriving 3-DOF equation of underwater construction robot for an analysis of fundamental motion performance through a numerical simulation using Matlab. After then, the pure-pursuit method which is the one of the geometric path tracking method is introduced. When derailment of underwater construction robot from given the path is occurred by disturbances including obstacle, turning radius given from the pure-pursuit method will help underwater construction robot to follow the given path. The effectiveness of proposed method is verified through the numerical simulation.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125904117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Underwater robot exploration and identification using dual imaging sonar : Basin test 水下机器人双成像声纳探测与识别:盆地试验
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890335
Yeongjun Lee, Jinwoo Choi, Jongdae Jung, Tae-Jin Kim, Hyun-Taek Choi
{"title":"Underwater robot exploration and identification using dual imaging sonar : Basin test","authors":"Yeongjun Lee, Jinwoo Choi, Jongdae Jung, Tae-Jin Kim, Hyun-Taek Choi","doi":"10.1109/UT.2017.7890335","DOIUrl":"https://doi.org/10.1109/UT.2017.7890335","url":null,"abstract":"For the underwater search task, imaging sonar is very useful equipment to obtain the visual data of the underwater environment. Generally, the search range of imaging sonar depends on the frequency of the sound. High-frequency imaging sonar is suitable to search near area within 5m and low-frequency is able to search the area between 5m to 100m. In this paper, we presents experimental results of landmarks identification using dual imaging sonar for the autonomous underwater robot exploration. The underwater robot explores autonomously and estimates the robot location using inertial sensor data. Artificial landmarks are designed and detected by dual imaging sonar. If the landmark is recognized, it is mapped to the estimated robot map. To verify the suitability of the proposed method, we perform an experiment in basin using the underwater robot, ‘yShark’.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125395785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Modeling and simulation of three phasevariable inductance BLDC motor driven thruster for under water applications 三相电感无刷直流电机驱动水下推力器的建模与仿真
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890339
A. Subramanian, K. Vasudevan, M. Atmanand, G. Ramadass
{"title":"Modeling and simulation of three phasevariable inductance BLDC motor driven thruster for under water applications","authors":"A. Subramanian, K. Vasudevan, M. Atmanand, G. Ramadass","doi":"10.1109/UT.2017.7890339","DOIUrl":"https://doi.org/10.1109/UT.2017.7890339","url":null,"abstract":"This paper presents a dynamic simulation model development for a Brushless DC (BLDC) motor driven thruster system for submersibles. A model for the BLDC motor is attempted which includes the effect of inductance variation with rotor position. The modeling effort is validated by comparing the results with those of the physical thruster system by experiments. Differences in performance estimation with a constant inductance model and variable inductance model are brought out through simulation studies. The model could be further used in variable inductance based sensor less controller developments and for multi-thruster submersible applications.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129720763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of visual survey tools for seafloor observations and sampling 开发用于海底观测和抽样的目视调查工具
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890274
Y-L Sung, Fang-Cheng Li, Hsin-Hung Chen, Chau-Chang Wang, P. Hsueh, Yuan-He Lin, Jia-Min Lin
{"title":"Development of visual survey tools for seafloor observations and sampling","authors":"Y-L Sung, Fang-Cheng Li, Hsin-Hung Chen, Chau-Chang Wang, P. Hsueh, Yuan-He Lin, Jia-Min Lin","doi":"10.1109/UT.2017.7890274","DOIUrl":"https://doi.org/10.1109/UT.2017.7890274","url":null,"abstract":"The ATIS (Abyss Twisted-pair Imaging System) and FITS (Fiber-optical Instrumentation Towed System) were developed for real-time observing on the sea floor around the gas hydrate seeps, while the V-corer (Video-guided multi-corer) was for effective sediment collection. Considering that the CTD (Conductivity, Temperature, and Depth) winch is a standard equipment on most of the research vessels, the ATIS was designed to be operated using a 2 cores twisted-pair CTD cable that is able to transmit live video and digital data over a range of 8 km. Therefore, the ATIS is portable and is readily operated on most of the research vessels; however, it suffers from the limited amount of battery-life and low communication bandwidth. On contrast, the FITS contains a surface power source and uses a fiber-optic cable as its backbone so that the FITS has nearly unlimited endurance and supports connection bandwidth of several gigabits per second. With unlimited power and high bandwidth budget, the FITS is able to carry more sensors and instruments than the ATIS for seafloor exploration. With the same power and communication architectures as the ATIS, the V-corer is developed to provide visual information of the experimental sites to the scientists such that a prompt and accurate decision can be made for collecting sediment samples. The V-corer, as opposed to conventional blind corers, equipped with a real-time HD camera and lightings, uplinks the live video to the surface vessel. This function improves the efficiency of sediment collection significantly because the operators can avoid hard seafloor which is highly risky for the coring device. Since 2013, the ATIS, FITS and V-corer have made 105 dives covering over 270 km of tracks and having a total of 256 hours dive duration off the southwest and northeast Taiwan, in which the deepest dive is 2630 m.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126661671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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