2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)最新文献

Development of the Amogh Survey System Amogh测量系统的开发

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965893

Arasu Venkatesh Alavandar, M. Cocco

{"title":"Development of the Amogh Survey System","authors":"Arasu Venkatesh Alavandar, M. Cocco","doi":"10.1109/AUV53081.2022.9965893","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965893","url":null,"abstract":"Larsen & Toubro, INDIA in conjunction with Edgelab Srl, ITALY have developed the Amogh Survey System, a new 1000m class autonomous underwater vehicle aimed at conducting planned hydrographic surveys using multiple sensors (payloads) namely, Multi-Beam Echo Sounder (MBES), Side Scan Sonar (SSS), Sub-Bottom Profiler (SBP), Underwater High resolution Camera and Conductivity Temperature and Depth (CTD) / Sound Velocity Profiler (SVP). Amogh’s survey system complies with the International Hydrographic Organization (IHO) Standard for Hydrographic Surveys S44 and IMO regulations for safety of navigation. The Amogh Survey System includes an electro-hydraulic telescopic launch frame and launch ramp capable of conducting AUV recovery operations by Nose-Line Recovery. The system can be installed on-board commercial and military survey ships, as well as vessels of opportunity such as barges and pontoons with minimal modifications. It can also be launched and recovered from the pier. It consists of a self-contained, air conditioned storage container with adequate space to additionally conduct maintenance of the vehicle.We present the vehicle design, system architecture, realization and results of sea trials performed in the Mediterranean Sea, off the west coast of Italy.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122592308","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

Multi-Robot Visual Control of Autonomous Soft Robotic Fish 自主软体机器鱼的多机器人视觉控制

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965882

J. Salazar, Levi Cai, Braden Cook, D. Rus

{"title":"Multi-Robot Visual Control of Autonomous Soft Robotic Fish","authors":"J. Salazar, Levi Cai, Braden Cook, D. Rus","doi":"10.1109/AUV53081.2022.9965882","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965882","url":null,"abstract":"The coordination and control of autonomous underwater vehicle (AUV) fleets in ocean exploration is a widely researched topic with much groundwork for traditional AUVs. Depending on the mission, AUV fleets can relax mission constraints on individual vehicles and improve a number of performance objectives (e.g. duration, sampling rate, area coverage). As missions begin to require navigation within more confined areas such as caves and coral reefs, however, safe interaction with such environments becomes more difficult for typical rigid AUVs and more feasible for soft, compliant underwater robots that can adaptively deform to their surroundings. Moreover, soft underwater robots show great promise as biomimetic vehicles that can take inspiration from nature’s swimmers and help answer questions about their behavior, for instance about the schooling capabilities observed in many fish species. Unfortunately, few fully autonomous, self-contained underwater soft robots have been developed, let alone fleets of such robots. To address this, we present a milestone towards formation control of a fully autonomous, multi-soft robotic fleet inspired by fish schooling. We present a vision-based, leader-follower formation strategy using an untethered soft robotic fish (SoFi) platform that enables one SoFi robot to pursue another via a visual servoing behavior. Our system demonstrates basic formation control of a pair of fully autonomous, self-contained soft robotic fish without external input.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192987","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

Moisture diffusivity of CFRE for an AUV hull at 1000m depth 水下潜航器船体CFRE水分扩散系数

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965822

Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer

{"title":"Moisture diffusivity of CFRE for an AUV hull at 1000m depth","authors":"Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer","doi":"10.1109/AUV53081.2022.9965822","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965822","url":null,"abstract":"The hull of an Autonomous Underwater Vehicle (AUV) is one of the main factors that determine its overall compressibility and drag. The hull as well, acting as a pressure vessel, is the most essential part that will allow the vehicle to accomplish deep diving. In order to minimize the total weight and volume of the vehicle, many modern vehicles benefit from composite materials rather than conventional materials. Moisture absorption, known as the hygral effect, has a significant impact on the mechanical properties of the material. Not to mention it also has an effect on the buoyancy of the vehicle, since the overall weight changes. This paper characterizes the seawater absorption and diffusivity of Carbon Fiber Reinforced Epoxy (CFRE) pressure hull samples in ambient conditions at sea level and at 1000m depth. The tests were performed using seawater taken from Oslo fjord in Norway and using a pressure vessel. Twelve specimens, all manufactured from CFRE using filament winding technique, were tested in both conditions, and the moisture absorption curve is compared. Periodic gravimetric measurements were taken, where the equilibrium state was reached after approximately 65 days at sea level and after 35 days at 1000m depth. The results showed that moisture diffusivity for composites used in underwater applications should be defined by both pressure and temperature since it changes with respect to submersion depth.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"336 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122538244","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

Experimental Verification of Underwater Glider Maneuvering in Constrained Environments 水下滑翔机在约束环境下操纵的实验验证

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965809

Reeve Lambert, Jalil Chavez-Galaviz, Brian R. Page, N. Mahmoudian

{"title":"Experimental Verification of Underwater Glider Maneuvering in Constrained Environments","authors":"Reeve Lambert, Jalil Chavez-Galaviz, Brian R. Page, N. Mahmoudian","doi":"10.1109/AUV53081.2022.9965809","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965809","url":null,"abstract":"This paper presents experimental ground truth data validation of the ability of Underwater Gliders (UGs) to maneuver in constrained environments through starting, stopping, and maintaining turning motions on demand. This capability has been validated in a pool on a custom made highly maneuverable underwater glider, ROUGHIE, using an underwater motion capture system for ground truth pose tracking. The experiments indicate that ROUGHIE is capable of robust and repeatable operation on complex paths due to its ability to effectively transition between stable flights and follow concatenated flight patterns. These maneuvers are accomplished on ROUGHIE through the injection of a neutrally buoyant vehicle state that enables ROUGHIE to maintain stability while transitioning between stable flights. Other internally actuated gliders can perform similar operations if they rapidly and efficiently start, stop, and maintain turns at different moments during the operation. The ground truth data presented here forms a basis for future work on data-driven modelling of UGs to enable complex mission operations.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115667750","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 Exploration and Mapping 水下勘探与制图

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965805

Bharat Joshi, M. Xanthidis, Monika Roznere, Nathaniel Burgdorfer, Philippos Mordohai, Alberto Quattrini Li, Ioannis M. Rekleitis

引用次数: 3

Target-aware Informative Path Planning and semantic occupancy mapping for AUV autonomous inspections 基于目标感知的AUV自主检测路径规划和语义占用映射

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965871

Leonardo Zacchini, A. Ridolfi, B. Allotta

引用次数: 0

Efficient Underwater Docking Detection using Knowledge Distillation and Artificial Image Generation 基于知识蒸馏和人工图像生成的高效水下对接检测

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965804

Jalil Chavez-Galaviz, N. Mahmoudian

引用次数: 1

Time Synchronization Scheme of Underwater Platforms Using Wireless Acoustic and Optical Communication 基于无线声光通信的水下平台时间同步方案

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965787

Yang Weng, T. Matsuda, Yuki Sekimori, J. Pajarinen, Jan-Martin Peters, T. Maki

引用次数: 0

CoExploration for Adaptive AUV Survey 自适应水下航行器测量的协同探测

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965837

L. Lindzey, Isaac Vandor, Toby Schneider, E. Gallimore, C. Kaiser, M. Jakuba

引用次数: 1

ROS Message Transport over Underwater Acoustic Links with ros_acomms 利用ros_acom在水声链路上传输ROS消息

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965848

E. Gallimore, Dennis Giaya, Brennan Miller-Klugman, Caileigh Fitzgerald, Kayleah Griffen, L. Lindzey, L. Freitag

引用次数: 1