2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)最新文献_第2页

Implementation of the AQUALUNG: A new form of Autonomous Underwater Vehicle AQUALUNG的实现:一种新型自主水下航行器

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965924

Abu M. Fuad, Md. Nahidul Islam, Kazi Ramit Raihan, M. Talha, Md Maruf Hossain Tasin, Iftekhar Ahmed, Omar Farrok

{"title":"Implementation of the AQUALUNG: A new form of Autonomous Underwater Vehicle","authors":"Abu M. Fuad, Md. Nahidul Islam, Kazi Ramit Raihan, M. Talha, Md Maruf Hossain Tasin, Iftekhar Ahmed, Omar Farrok","doi":"10.1109/AUV53081.2022.9965924","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965924","url":null,"abstract":"The paper presents design and implementation of a multitasking autonomous underwater vehicle (AUV) named “Aqualung.” The motivation of this project is to construct the AUV which is going to be participated in the SAUVC-2022 competition. The conventional autonomous underwater vehicles are highly expensive (up to 10 thousand USD) and have complex mechanisms whereas the construction cost of the proposed AUV is under ${$}$ 300 USD with a simple structure. DC gear motors are used in this vehicle to drive the propeller, a pressure sensor is used to convert air pressure to calculate pressure underwater, advanced image processing technology is used that has increased the proper geo mapping process and identifying any particular object under water. A grabber can be attached with its body to grab a particular thing for carrying an object. Use of lightweight materials in Aqualung AUV results in weight reduction and enables the device to consume less amount of energy. The proposed AUV exhibits excellent features which are presented in the result section.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"44 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":"129961352","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: 1

Robotic Swarm for Marine and Submarine Missions: Challenges and Perspectives 海洋和潜艇任务的机器人群:挑战和观点

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965934

Alberto Luvisutto, Aaesha Al Shehhi, N. Mankovskii, F. Renda, C. Stefanini, Giulia De Masi

{"title":"Robotic Swarm for Marine and Submarine Missions: Challenges and Perspectives","authors":"Alberto Luvisutto, Aaesha Al Shehhi, N. Mankovskii, F. Renda, C. Stefanini, Giulia De Masi","doi":"10.1109/AUV53081.2022.9965934","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965934","url":null,"abstract":"Underwater exploration and monitoring are particularly challenging for the absence of GPS, limited communications, high hydrodynamic pressure and harsh environmental conditions. Autonomous swarms of underwater robots can play a crucial role for missions such as wide area underwater exploration, environmental monitoring and inspection of existing engineering infrastructures, like oil and gas, and archaeological or historical sites, given their properties of scalability, robustness, flexibility, adaptability, enlarged perception and tasks’ parallelization. Driven by the need to understand the state of art and develop new solutions within the realization of a new swarm of underwater fishes1, we provide here a critical review of past and current projects of underwater swarms, focusing on sensors, mission tasks, algorithms, simulation environments and real life proofs of concept. Moreover, we analyze the research directions that can improve the impact of autonomous underwater swarms on environmental preservation and marine sustainable development, also considering the limiting factors imposed on these prospects.1This work is part of a new project “Heterogeneous Swarm of Underwater Autonomous Vehicles” funded by the Technology Innovation Institute and developed with Khalifa University, UAE","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"51 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":"117053608","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: 1

Design of an Autonomous ROV for Marine Growth Inspection and Cleaning 用于海洋生长检测和清洗的自主ROV设计

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965928

Christian Mai, Malte von Benzon, F. Sørensen, Sigurd Klemmensen, Simon Pedersen, Jesper Liniger

引用次数: 4

Towards Dense Point Correspondence with PatchMatch in Low-Resolution Sonar Images 基于PatchMatch的低分辨率声纳图像密集点对应研究

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965885

Louise Rixon Fuchs, A. Gällström, A. Maki

{"title":"Towards Dense Point Correspondence with PatchMatch in Low-Resolution Sonar Images","authors":"Louise Rixon Fuchs, A. Gällström, A. Maki","doi":"10.1109/AUV53081.2022.9965885","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965885","url":null,"abstract":"Robust feature correspondences between 2D sonar imagery are important for perception tasks in the underwater domain such as 3D reconstruction but involve open challenges, in particular, low-resolution as well as the fact that object appearance is view-dependent. Although sonars in the MHz range would allow for higher resolution imagery, in this paper we focus on scenarios with a lower frequency kHz sensor, in which the longer visual range is gained at the sacrifice of image resolution. To this end, we first propose to solve the correspondence task using the PatchMatch algorithm for the first time in sonar imagery, and then propose a method for feature extraction based on IC. We then compare the proposed methods against conventional methods from computer vision. We evaluate our method on data from a lake experiment with objects captured with an FLS sensor. Our results show that the proposed combination of IC together with PatchMatch is well-suited for point feature extraction and correspondence in sonar imagery. Further, we also evaluate the different methods for point correspondence with a 3D object reconstruction task.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"179 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":"124484180","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: 1

Impact of Natural Gas Seeps on the Navigation of an Autonomous Underwater Vehicle 天然气渗漏对自主水下航行器导航的影响

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965897

M. Bresciani, S. Tani, F. Ruscio, Leonardo Zacchini, L. Bartalucci, A. Ridolfi, F. Maurelli, R. Costanzi

{"title":"Impact of Natural Gas Seeps on the Navigation of an Autonomous Underwater Vehicle","authors":"M. Bresciani, S. Tani, F. Ruscio, Leonardo Zacchini, L. Bartalucci, A. Ridolfi, F. Maurelli, R. Costanzi","doi":"10.1109/AUV53081.2022.9965897","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965897","url":null,"abstract":"Oceans preservation and protection have become increasingly relevant topics to tackle climate change. To this end, Autonomous Underwater Vehicles (AUVs) provide a useful means to carry out inspection and monitoring operations in full autonomy. A particular scenario in which AUVs are crucial involves the detection and mapping of underwater gas leaks, whether these are due to damaged offshore structures or naturally released from the seafloor. In this context, the proposed work investigates the effects of gas seeps on the navigation performance of AUVs. Indeed, the navigation of underwater vehicles mostly relies on acoustic sensors, as Doppler Velocity Log (DVL), which can be negatively affected by the presence of gas bubbles. The paper explores two solutions, based on two different acoustic sensors working at distinct frequencies: a DVL sensor and an Ultra-Short BaseLine (USBL) device. Both strategies have been implemented and tested during at-sea experiments, where gas leaks have been artificially reproduced. Results showed that both methods suffer from the presence of gas bubbles, causing erroneous DVL measurements and lost of USBL connectivity, respectively.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"10 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":"121197036","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

Power Efficiency Autonomy for Long Duration AUV Operation 长时间AUV运行的功率效率自主性

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965807

Justin Chang, M.J. Anderson, S. Merrifield, Andrew Nager, Robert Hess, Raymond Young, Sean Kitchen, E. Terrill

{"title":"Power Efficiency Autonomy for Long Duration AUV Operation","authors":"Justin Chang, M.J. Anderson, S. Merrifield, Andrew Nager, Robert Hess, Raymond Young, Sean Kitchen, E. Terrill","doi":"10.1109/AUV53081.2022.9965807","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965807","url":null,"abstract":"The power required to move an Autonomous Underwater Vehicle (AUV) depends on the body drag coefficient and the cube of the water velocity. This relationship suggests that the most efficient use of power is obtained at the slowest speed required to maintain steerage and level flight. However, AUVs also have hotel loads, which are independent of vehicle propulsion, leading to an optimization problem for the speed that allows for maximum distance traveled per unit energy. This paper documents a power-efficienct behavior for AUVs that considers this distance optimization and the impact of apparent ocean currents. Our approach is applicable to all propeller driven AUVs and is explored in detail with the REMUS 100 vehicle (Huntington Ingalls, MA USA) with the goal of maximizing transit distances for a given battery capacity. The REMUS 100, a two-person portable vehicle, is a convenient surrogate for larger AUVs. It allows for maturing autonomy in a rapid, build-testbuild design spiral that can be applied to larger variants of the REMUS system. The framework for our optimization problem is an accurate power model that includes the hotel load and the hydrodynamics of the AUV. The power model is validated against a series of ocean tests that involve transits through a tidally-forced harbor, and extended to show the gains that might be possible for a power efficiency behavior in realistic head/tail currents. An in-situ behavior is also developed that dynamically adjusts its speed for optimized power-efficiency given on-board apparent ocean currents, further demonstrating energy saving potentials for long duration transits.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"22 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":"115413497","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

Real-Time Automatic Wall Detection and Localization based on Side Scan Sonar Images 基于侧扫声纳图像的实时自动墙体检测与定位

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965813

Martin Aubard, A. Madureira, L. Madureira, José Pinto

引用次数: 2

In Situ Damping Parameter Estimation for an Underwater Vehicle Using Onboard Sensors* 基于机载传感器的水下航行器原位阻尼参数估计*

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965876

Christian Busse, Jan Erik Reich, Bernd-Christian Renner

{"title":"In Situ Damping Parameter Estimation for an Underwater Vehicle Using Onboard Sensors*","authors":"Christian Busse, Jan Erik Reich, Bernd-Christian Renner","doi":"10.1109/AUV53081.2022.9965876","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965876","url":null,"abstract":"In underwater vehicle navigation, accurate model parameters are crucial for the development of control and localization algorithms. However, the identification of hydrodynamic parameters is nontrivial, and experimental evaluation is usually required for accurate determination. Since the vehicle configuration is not unique and may change between missions, identification methods are needed that allow fast estimation of vehicle parameters in the field shortly before the start of a mission. In this work, we investigate the estimation of translational damping parameters for an underwater vehicle using onboard sensor measurements from self-propelled experiments. To improve the estimation of body forces, we have augmented the thruster model to consider decreasing battery voltage and hydrodynamic performance loss. Furthermore, we conducted field tests with an underwater vehicle equipped with an acoustic modem as well as an RTK-GNSS reference system to investigate the fast identification of surge damping parameters. The experimental results show that with the fitted damping model, the steady-state velocities in the range of 0. 4m/s to 0.85 m/s are predicted with an error less than 0.05 m/s.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"50 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":"114702911","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 Object Detection of AUV based on Sonar Simulator utilizing Noise Addition 基于声呐模拟器的AUV水下目标检测

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965853

Minsung Sung, Young-woon Song, Son-cheol Yu

引用次数: 1

Design and Testing of a Low-Profile Pressure-Tolerant L-band Antenna 一种低轮廓耐压l波段天线的设计与测试

2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) Pub Date : 2022-09-19 DOI: 10.1109/AUV53081.2022.9965937

D. Gomez-Ibanez, Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer

引用次数: 0