2012 IEEE/OES Autonomous Underwater Vehicles (AUV)最新文献_第2页

Two years of experiments with the AUV dagon - a versatile vehicle for high precision visual mapping and algorithm evaluation 两年的实验与AUV巨龙-一个多功能车辆的高精度视觉映射和算法评估

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380722

M. Hildebrandt, C. Gaudig, L. Christensen, S. Natarajan, P. Paranhos, J. Albiez

引用次数: 17

Cooling of the West Spitsbergen Current: AUV-based turbulence measurements west of Svalbard 西斯匹次卑尔根洋流的冷却:斯瓦尔巴群岛西部基于auv的湍流测量

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380741

E. Steele, T. Boyd, M. Inall, E. Dumont, C. Griffiths

{"title":"Cooling of the West Spitsbergen Current: AUV-based turbulence measurements west of Svalbard","authors":"E. Steele, T. Boyd, M. Inall, E. Dumont, C. Griffiths","doi":"10.1109/AUV.2012.6380741","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380741","url":null,"abstract":"The role of turbulence is critical in the redistribution of heat and salt throughout the global ocean, and in boundary currents of the high-latitude oceans in particular. In the Arctic Ocean, warm, saline waters of Atlantic origin, which are carried northwards by the West Spitsbergen Current (WSC), are the largest source of oceanic heat carried into the Arctic Eurasian basin, and may have a significant impact on the rate of sea ice decline. While the rapid down-stream cooling of the WSC around its entry point into the Arctic Ocean is well-known, the processes by which this heat flux occurs are still an area of active research. During a cruise to the Svalbard region in July 2010, a Hydroid REMUS 600m AUV, equipped with a forward-mounted microstructure package, was used to quantify the level of turbulent mixing within and across the shoreward edge of the WSC. The microstructure-equipped AUV was used to measure horizontal profiles of water properties and turbulence parameters while a more-conventional, vertically free-falling microstructure profiler was used to conduct complementary transects of vertical profile measurements across the edge of the WSC. In this study we evaluate the resulting measurements and compare the views of the upper ocean derived from similar sensors mounted on two very different platforms: one view assembled from conventional vertical profiles and the second from horizontal, AUV-based profiles. We discuss the impact of mixing on the cooling of the WSC and the capacity of these platforms to resolve small-scale variability in both the vertical and the horizontal.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121834687","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: 8

The legal regime governing AUV operations how far and how wide 管理AUV操作的法律制度有多远、多广

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380745

R. Rogers

{"title":"The legal regime governing AUV operations how far and how wide","authors":"R. Rogers","doi":"10.1109/AUV.2012.6380745","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380745","url":null,"abstract":"The last decade has seen an exponential growth in the legal literature looking at the applicability of the law as it relates to the operational use of Autonomous Underwater Vehicles (AUV). The legal views postulated in this burgeoning body of literature are varied and can be very driven by scenario [e.g. requirement for navigational safety] or by class of AUV operator [defence/academic]. The legality can also be further complicated when some vehicle operators are planning to operate a mix of unmanned maritime vehicles in the air, at the sea surface and underwater. Legal opinions are now being sought when concepts such as `swarms', `networks' and `system of systems' are being muted in the context of AUV operations. A new dimension is that AUV operators are now looking at ethical issues surrounding some types of AUV usage where complete autonomy is being considered. The area of ethics of robotics is a distinct entity its own right and has associated with it a defined body of law. This paper seeks to try and provide an up to date understanding of how applicable and broad the legal regime relating to the operation of AUVs is and will suggest how this may change as the use of AUV's becomes even more commonplace.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126534590","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 real-time acoustic vertical plane obstacle detection and avoidance 水下航行器实时声垂直平面障碍物探测与避障

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380750

S. Karabchevsky, B. Braginsky, Hugo Guterman

引用次数: 7

Low-cost AUV based on Arduino open source microcontroller board for oceanographic research applications in a collaborative long term deployment missions and suitable for combining with an USV as autonomous automatic recharging platform 基于Arduino开源微控制器板的低成本水下航行器可用于海洋研究应用的协同长期部署任务，适合与水下航行器结合作为自主自动充电平台

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380720

J. Busquets, J. Busquets, D. Tudela, F. Pérez, J. Busquets-Carbonell, A. Barbera, C. Rodríguez, A. García, J. Gilabert

{"title":"Low-cost AUV based on Arduino open source microcontroller board for oceanographic research applications in a collaborative long term deployment missions and suitable for combining with an USV as autonomous automatic recharging platform","authors":"J. Busquets, J. Busquets, D. Tudela, F. Pérez, J. Busquets-Carbonell, A. Barbera, C. Rodríguez, A. García, J. Gilabert","doi":"10.1109/AUV.2012.6380720","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380720","url":null,"abstract":"The challenge of extending the autonomy in AUV deployments is one of the most important issues in oceanographic research today. The possibility of maintaining a team of AUV under deployment in a defined area of interest for a long period could provide an additional source of information [8]. All this data in combination with the measures provided by buoys and sea gliders used for slow motion and long range operations will be very valuable. A group of low cost AUV's in alternative automatic switching system navigation-charging operation, could allow a kind of continuous surveying operation. This work is the continuation of the ideas that some of the authors previously presented in the AUV 2010 conference at MBARI [8]. At this conference was proposed the great interest for researching oceanic processes on two areas near Cartagena, Spain: cape Tiñoso and the Mar Menor a shallow coastal lagoon. Both areas require a different research structure configuration because of their opposite characteristics. The Mar Menor is a shallow salty lagoon 20 miles long with 7 m of maximum depth and particular features. This lagoon seems to present a sort of oceanic behavior and can be compared with the major oceans but a minor scale. The second area considered is cape Tiñoso, a very deep area in the Mediterranean Sea where the presence of a self-break provides an interesting potential for the research of the effect of upwelling currents.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122058193","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: 38

Optimal path planning based on annular space decomposition for AUVs operating in a variable environment 基于环空间分解的可变环境下auv最优路径规划

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380759

Zheng Zeng, A. Lammas, K. Sammut, F. He

{"title":"Optimal path planning based on annular space decomposition for AUVs operating in a variable environment","authors":"Zheng Zeng, A. Lammas, K. Sammut, F. He","doi":"10.1109/AUV.2012.6380759","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380759","url":null,"abstract":"This paper presents an optimal and efficient path planner based on an annular space decomposition (ASD) scheme for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed scheme decomposes the search space into annular regions, and allows placing one or more control points within each of this region. The trajectory is then generated from this set of control points by using Splines. This arrangement gives more freedom to the placement of the control points, while still restricting the search space to reduce computation time. The ASD scheme has been integrated with both the Genetic Algorithm and the Quantum-behaved Particle Swarm Optimization based path planner and tested to generate an optimal trajectory for an AUV travelling through a turbulent ocean field in the presence of obstacles located with positioning uncertainty. Simulation results show that the resulting approach is able to obtain a more optimized trajectory than the concentric circle constrained method, and has faster convergence speed and use less computation time than the unconstrained full space searching method. Monte Carlo simulations demonstrate the robustness and superiority of the proposed ASD scheme compared with the other two schemes.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123162089","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: 28

Autosub Long Range: A long range deep diving AUV for ocean monitoring Autosub Long Range:用于海洋监测的远程深潜AUV

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380737

M. Furlong, Dave Paxton, P. Stevenson, M. Pebody, S. McPhail, J. Perrett

引用次数: 116

Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method 采用模型预测控制方法研究测量噪声对深度和俯仰控制器性能的影响

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380732

L. Steenson, A. Phillips, S. Turnock, M. Furlong, E. Rogers

引用次数: 12

Vision recognition using shape context for autonomous underwater sampling 基于形状上下文的水下自主采样视觉识别

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380730

K. McBryan, D. Akin

{"title":"Vision recognition using shape context for autonomous underwater sampling","authors":"K. McBryan, D. Akin","doi":"10.1109/AUV.2012.6380730","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380730","url":null,"abstract":"The ocean floor is one of the few remaining unexplored places on the planet. Underwater vehicles, both teleoperated and autonomous, have been built to take images of the ocean floor. The depth that a teleoperated vehicle can achieve is limited by its tether. Autonomous vehicles are able to study the deepest parts of the ocean without a complex tether system. These vehicles, while being great at mapping the ocean floor, are not able to autonomously retrieve samples. In order to retrieve samples the vehicle must: know what objects look like, correctly identify new instances of the target object, estimate the pose so the manipulator can grab it, and retrieve its coordinates in 3D space. Color filtering, shape context and the use of stereovision have been used to autonomously locate, identify, and estimate the pose of objects. Color filtering allows the image to be filtered so that only objects of similar color remain and extraneous information can be disregarded. Shape context matches the shape, as defined by the edge pixels, of each potential target to a known object. Shape context uses a costing function to determine if the potential target is a match to the known object. The costing function takes into account the amount of 'bending energy' it takes to make the shape of the potential target conform to that of the known object. This gives a metric of how well the match is between the potential target and a known object and is done for both the left and right cameras. Once objects have been identified in each image, calibration parameters can be used to retrieve the 3D position of the object. This allows a manipulator on an underwater vehicle to autonomously sample targets.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124349090","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

Contingency planning for long-duration AUV missions 长时间AUV任务的应急计划

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2012-12-13 DOI: 10.1109/AUV.2012.6380747

C. Harris, R. Dearden

{"title":"Contingency planning for long-duration AUV missions","authors":"C. Harris, R. Dearden","doi":"10.1109/AUV.2012.6380747","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380747","url":null,"abstract":"In recent years, the use of autonomous underwater vehicles has become increasingly popular for a wide variety of applications. As the cost of deploying a vehicle and the risk of loss or damage are often high, AUV missions typically consist of simple pre-scripted behaviours. Designed to minimise risk to the vehicle and its scientific cargo, these behaviours are inevitably overly-conservative, reserving a significant proportion of battery as a contingency should usage be higher than expected. Consequently, in the average case, the vehicle is not used to its full potential. As environments in which AUVs operate are dynamic and their effect on the vehicle is often uncertain, it is difficult to accurately predict the resource cost of a mission or individual task in advance. By modelling this uncertainty and allowing the vehicle to observe both the progress of the mission and the surrounding environment, the mission plan may be autonomously refined during operation. For example, in the event that resource usage, such as battery power, is observed to be lower than expected, the vehicle can schedule additional data collection tasks. Conversely, if the resource usage is higher than expected, the vehicle can remove lower priority tasks from the mission plan in order to increase the probability of successful recovery without the need to abort the mission. Such planning becomes increasingly beneficial when performing longer duration missions comprised of many tasks. This paper discusses the development of a new autonomous planning algorithm which models the uncertainty in the AUV domain and attempts to maximise the collection of scientific data without compromising the safety of the vehicle. It includes a technical overview, recent results and a discussion of the research in the context of potential applications, focusing on long-range and low-cost vehicles.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123851738","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