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2016 IEEE/OES Autonomous Underwater Vehicles (AUV)最新文献

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Risk and reliability modelling for multi-vehicle marine domains 多车辆海洋领域的风险和可靠性建模
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-12-12 DOI: 10.1109/AUV.2016.7778685
C. Harris, A. Phillips, Carolina Dopico-González, M. Brito
{"title":"Risk and reliability modelling for multi-vehicle marine domains","authors":"C. Harris, A. Phillips, Carolina Dopico-González, M. Brito","doi":"10.1109/AUV.2016.7778685","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778685","url":null,"abstract":"It is well-known that autonomous underwater vehicle (AUV) missions are a challenging, high-risk robotics application. With many parallels to Mars rovers, AUV missions involve operating a vehicle in an inherently uncertain environment of which our prior knowledge is often sparse or low-resolution. The lack of an accurate prior, coupled with poor situational awareness and potentially significant sensor noise, presents substantial engineering challenges in navigation, localisation, state estimation and control. When constructing missions and operating AUVs, it is important to consider the risks involved. Stakeholders need to be reassured that risks of vehicle loss or damage have been minimised where possible, and scientists need to be confident that the mission is likely to produce sufficient high-quality data to meet the aims of the deployment. In this paper, we consider the challenges associated with risk analysis methods and representations for multi-vehicle missions, reviewing the relevant literature and proposing a methodology.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114102420","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
Terrain Aided Navigation for Long Range AUV operations at arctic latitudes 北极地区远程水下航行器操作的地形辅助导航
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-12-12 DOI: 10.1109/AUV.2016.7778658
G. Salavasidis, C. Harris, S. McPhail, A. Phillips, E. Rogers
{"title":"Terrain Aided Navigation for Long Range AUV operations at arctic latitudes","authors":"G. Salavasidis, C. Harris, S. McPhail, A. Phillips, E. Rogers","doi":"10.1109/AUV.2016.7778658","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778658","url":null,"abstract":"This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability to reduce/bound the positioning error growth due to the Dead Reckoning (DR) drift over time. Bathymetric measurements are obtained using a low sample rated single beam echo sounder and a Jittered Bootsrap Particle Filter (JBPF) is used for the multi-sensor data fusion problem. Sensitivity analysis of JBPF has been performed for a range of values of number of particles, jittering variances and measurement frequencies and a discussion over the results is given. Results from the simulation demonstrate that JBPF is capable of providing a robust and accurate solution to the localization problem provided that the AUV follows a trajectory with a sufficiently variant terrain. Finally, a brief discussion regarding the future extension of this work is also provided.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125889158","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: 23
Evaluation of terrain collision risks for flight style autonomous underwater vehicles 飞行式自主水下航行器地形碰撞风险评估
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-12-12 DOI: 10.1109/AUV.2016.7778689
Sophia M. Schillai, S. Turnock, E. Rogers, A. Phillips
{"title":"Evaluation of terrain collision risks for flight style autonomous underwater vehicles","authors":"Sophia M. Schillai, S. Turnock, E. Rogers, A. Phillips","doi":"10.1109/AUV.2016.7778689","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778689","url":null,"abstract":"Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience. This paper introduces measures for vehicle risk and success and analyses how previously mapped terrains and artificially generated terrain maps can be used to categorize terrains. The developed measures are applied to a simulation of the Autosub6000 flight style AUV terrain following system. Based on quantitative parameters, changes to the obstacle avoidance system and survey mission plans can be better informed.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130947512","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: 4
Landing-sleep and drifting-sleep experiments of the underwater glider for long-term observation 水下滑翔机的着陆睡眠和漂流睡眠实验
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-12-08 DOI: 10.1109/AUV.2016.7778679
K. Asakawa, M. Nakamura, Y. Maeda, T. Hyakudome, Y. Ishihara
{"title":"Landing-sleep and drifting-sleep experiments of the underwater glider for long-term observation","authors":"K. Asakawa, M. Nakamura, Y. Maeda, T. Hyakudome, Y. Ishihara","doi":"10.1109/AUV.2016.7778679","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778679","url":null,"abstract":"For long-term monitoring, the authors are developing a prototype underwater vehicle that can sleep on the seafloor or sleep while drifting underwater. Using these functions, it can carry out long-term monitoring of ocean environments while remaining in a designated area. Recent landing-sleep and drifting-sleep experiments yielded good results. Results of these experiments reported herein demonstrate that the landing motion showed good coincidence with the simulation result.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123590271","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
Uncertainty management during hybrid autonomous underwater vehicle missions 混合自主水下航行器任务中的不确定性管理
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-12-01 DOI: 10.1109/AUV.2016.7778684
M. Brito
{"title":"Uncertainty management during hybrid autonomous underwater vehicle missions","authors":"M. Brito","doi":"10.1109/AUV.2016.7778684","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778684","url":null,"abstract":"Effective autonomous underwater vehicle (AUV) mission uncertainty management requires identifying optimal mission profile based on multiple uncertain attributes. The new deep underwater glider being developed by the BRIDGES consortium will enable the use of low power AUV to sample three different phenomena: living things, sea mining and oil and gas exploration. In order to have the versatility to address these three requirements, the underwater glider will operate in a hybrid mode, using a buoyancy change and propeller based propulsion system. When we developed a failure model for this AUV we realized that different risk profiles are obtained if we are using different type of propulsion system. Therefore, we propose a multiple attribute utility technique to inform the optimal mission profile in light of mission risks and opportunities.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"50 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126354329","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
Assessment of underwater glider performance through viscous computational fluid dynamics 基于粘性计算流体力学的水下滑翔机性能评估
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-08 DOI: 10.1109/AUV.2016.7778698
A. Lidtke, S. Turnock, J. Downes
{"title":"Assessment of underwater glider performance through viscous computational fluid dynamics","authors":"A. Lidtke, S. Turnock, J. Downes","doi":"10.1109/AUV.2016.7778698","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778698","url":null,"abstract":"The process of designing an apt hydrodynamic shape for a new underwater glider is discussed. Intermediate stages include selecting a suitable axi-symmetric hull shape, adding hydrofoils and appendages, and evaluating the performance of the final design. All of the hydrodynamic characteristics are obtained using computational fluid dynamics using the kT - kL - ω transition model. It is shown that drag reduction of the main glider hull is of crucial importance to the ultimate performance. Suggested steps for achieving this are the encouragement of natural laminar flow, integration of sensors into the streamlined hull shape, and sound operational practice.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128234054","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: 4
Efficient visual SLAM using selective image registration for autonomous inspection of underwater structures 利用选择性图像配准实现水下结构自主检测的高效视觉SLAM
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-08 DOI: 10.1109/AUV.2016.7778670
Seonghun Hong, Jinwhan Kim
{"title":"Efficient visual SLAM using selective image registration for autonomous inspection of underwater structures","authors":"Seonghun Hong, Jinwhan Kim","doi":"10.1109/AUV.2016.7778670","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778670","url":null,"abstract":"Visual inspection of underwater structures including ship-hull inspection has been performed by human divers. It is a highly dangerous task and thus can be a potential application for unmanned underwater vehicles. This paper introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to the autonomous inspection of underwater structures. Considering that visual features are sparsely located on the surface of typical underwater structures, the proposed visual SLAM algorithm employs a selective image registration scheme consisting of key-frame selection and key-pair selection. By using only potentially effective images and image pairs for feature-based image registration, the computational burden of the visual SLAM can be substantially reduced, compared with the conventional method. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125886095","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: 6
Cooperative underwater mission: Offshore seismic data acquisition using multiple autonomous underwater vehicles 协同水下任务:使用多个自主水下航行器进行海上地震数据采集
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778709
Youssef Essaouari, A. Turetta
{"title":"Cooperative underwater mission: Offshore seismic data acquisition using multiple autonomous underwater vehicles","authors":"Youssef Essaouari, A. Turetta","doi":"10.1109/AUV.2016.7778709","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778709","url":null,"abstract":"Offshore seismic surveys are an indispensable part of the offshore oil and gas exploration, they provide an image of Earth's subsurface that can be used to determine the location and the size of the oil and gas reservoirs. The actual offshore seismic surveys are done with specific vessels towing up to ten kilometers of cables where the seismic sensors are attached, this technology have many disadvantages, such as the high cost for operating the vessel, maneuverability limitations in very shallow water and geometric inflexibility of the sensors. In this paper we present a novel technology for offshore seismic surveys based on autonomous underwater vehicles. A centralized formation control approach is adopted combined with a centralized localization and communication systems in order to validate the proof of concept of this technology.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116935087","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: 4
A model Of AUV survey feature resolution and error estimation for deployment optimization 面向部署优化的水下航行器测量特征解析与误差估计模型
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778672
Damien Guihen, P. King
{"title":"A model Of AUV survey feature resolution and error estimation for deployment optimization","authors":"Damien Guihen, P. King","doi":"10.1109/AUV.2016.7778672","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778672","url":null,"abstract":"The marine environment is patchy, that is there are distributions of physical, chemical and biological features that are uneven across multiple spatial and temporal scales. Spatial scales range from the molecular level to thousands of kilometers, under the influence of processes such as diffusion, advection by oceanic currents, animal movement and planetary rotation. Making robust measurements of this patchiness is made significantly more difficult in these anisotropic conditions due to aliasing and irregular encounter rates. Understanding the causes and consequences of marine spatial and temporal variability is an essential step toward a better interpretation of environmental and ecological structure and function and requires careful planning and interpretation of sampling surveys. We present a simulation package for assessing an AUV platform and sensor packages' ability to resolve features of interest in an anisotropic environment and for assessing survey design under differing probabilities of encounter. The simulation code is freely available for download and modification.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121112189","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 and sea trial of an Autonomous Underwater Vehicle equipped with a sub-bottom profiler for surveying mineral resources 配备海底剖面仪的自主水下航行器的研制与海试
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778652
S. Yokota, Kangsoo Kim, Motonobu Imasato, Kenichiro Sawada, K. Tamura, K. Nakane, H. Koyama, K. Nagahashi, T. Obata, Y. Oyabu
{"title":"Development and sea trial of an Autonomous Underwater Vehicle equipped with a sub-bottom profiler for surveying mineral resources","authors":"S. Yokota, Kangsoo Kim, Motonobu Imasato, Kenichiro Sawada, K. Tamura, K. Nakane, H. Koyama, K. Nagahashi, T. Obata, Y. Oyabu","doi":"10.1109/AUV.2016.7778652","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778652","url":null,"abstract":"In recent years, Autonomous Underwater Vehicle (AUV) has received much attention as a tool of ocean survey. One of the method for the efficient of hydrothermal deposits investigation is multiple vehicle operation of AUVs. The aim of our work is to development the small and inexpensive AUV and operate together with other AUVs. This paper introduce the first AUV in our project, and show the result for the sea trial of the AUV.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123360674","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: 9
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