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

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Development of quad-rotor type underwater robot for fixed-point observation 四旋翼水下定点观测机器人的研制
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778705
Tenga Tanaka, Hidetaka Fuji, T. Matsuo, T. Takimoto
{"title":"Development of quad-rotor type underwater robot for fixed-point observation","authors":"Tenga Tanaka, Hidetaka Fuji, T. Matsuo, T. Takimoto","doi":"10.1109/AUV.2016.7778705","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778705","url":null,"abstract":"Ocean development has actively progressed in the sea near Japan. However, in marine research, it is impossible for people to work in deep sea because of low temperature, high pressure and so on. We have developed the underwater robot that mimics the quad-rotor helicopter in the past. This robot is capable of performing freely exercise of translation and rotation by controlling the rotational speed of the four rotor.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"20 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":"126217589","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
Envirobot: A bio-inspired environmental monitoring platform Envirobot:仿生环境监测平台
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778700
Behzad Bayat, A. Crespi, A. Ijspeert
{"title":"Envirobot: A bio-inspired environmental monitoring platform","authors":"Behzad Bayat, A. Crespi, A. Ijspeert","doi":"10.1109/AUV.2016.7778700","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778700","url":null,"abstract":"Autonomous marine vehicles are becoming essential tools in aquatic environmental monitoring systems, and can be used for instance for data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. In this work, we present an unconventional bio-inspired autonomous robot aimed for execution of such tasks. The Envirobot platform is based on our existing segmented anguilliform swimming robots, but with important adaptations in terms of energy use and efficiency, control, navigation, and communication possibilities. To this end, Envirobot has been designed to have more endurance, flexible computational power, long range communication link, and versatile flexible environmental sensor integration. Its low level control is powered by an ARM processor in the head unit and micro processors in each active module. On top of this, integration of a computer-on-module enables versatile high level control methods. We present some preliminary results and experiments done with Envirobot to test the added navigation and control strategies.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"105 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":"132476203","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: 25
Goby3: A new open-source middleware for nested communication on autonomous marine vehicles Goby3:一个新的开源中间件，用于自主船舶的嵌套通信
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778677
Toby Schneider
{"title":"Goby3: A new open-source middleware for nested communication on autonomous marine vehicles","authors":"Toby Schneider","doi":"10.1109/AUV.2016.7778677","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778677","url":null,"abstract":"Software systems for robotics increasingly require support for robust interprocess communication with common interfaces, which has given rise to the use of “middleware” software projects. However, autonomous underwater vehicles (AUVs) have a significantly different intervehicle communication regime than other branches of robotics due to the physical realities of the ocean as a communication medium. Goby3 is a new middleware, the first specifically designed to address intervehicle, interprocess, and interthread communication on AUVs in a unified manner. Goby3 is based on C++11 and is minimally restrictive on the types that can be published and subscribed using it. A reference implementation is given that uses C++ shared pointers for interthread, ZeroMQ for interprocess, and Goby-Acomms for intervehicle communication. This implementation is shown to give similar or better performance to existing middlewares.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"31 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":"133343983","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
Validation of a new generation DVL for underwater vehicle navigation 用于水下航行器导航的新一代DVL验证
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778694
O. Hegrenaes, Audun Ramstad, T. Pedersen, David Velasco
{"title":"Validation of a new generation DVL for underwater vehicle navigation","authors":"O. Hegrenaes, Audun Ramstad, T. Pedersen, David Velasco","doi":"10.1109/AUV.2016.7778694","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778694","url":null,"abstract":"Nortek has developed a new Doppler velocity log (DVL) based on a novel bottom detection principle. This allows for the ability to estimate individual beam and ping Doppler measurement noise in real time. Another capability that has been embedded in the new DVL is an accurate timing reference of the velocity estimate. Using the Kongsberg Maritime (KM) HUGIN autonomous underwater vehicle (AUV) as testbed, we present in this work sea trial results for the new Nortek DVL.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"57 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":"134456355","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
Hunting ghost fishing gear for fishery sustainability using autonomous underwater vehicles 使用自主水下航行器狩猎幽灵渔具，实现渔业可持续发展
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778719
Jia-En Chang, Sheng-wei Huang, Jenhwa Guo
{"title":"Hunting ghost fishing gear for fishery sustainability using autonomous underwater vehicles","authors":"Jia-En Chang, Sheng-wei Huang, Jenhwa Guo","doi":"10.1109/AUV.2016.7778719","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778719","url":null,"abstract":"This article describes a method of using autonomous underwater vehicles (AUV) and visible light communication to locate ghost fishing gears. Ghost fishing refers to derelict fishing gear which continues to function and induce mortality of aquatic organisms without human control. So far, derelict and lost fishing gears are a major global problem. A comprehensive solution is proposed here for dealing with the issue of the ghost fishing gear. This solution includes hardware and software solutions, respectively. In terms of hardware, a light weight, hand-carried AUV, an omni-directional LED light ball which is a passive optical communication device are used. In terms of software, there are three apps running on mobile devices: the registration system of fishing gear for the owner, checking the fishing gear by the coast guard during the departure examination and location logger of fishing gear when deploying and recovering the fishing gear. To implement the idea of hunting the ghost fishing gear, USD$300,000 is required. This work will be executed over three years. In the first year, small light balls with passive optical communication and Bluetooth will be developed. An AUV with optical transceiver will be developed and tested based on a well-established prototype AUV in the second year. In the third year, the apps for fishing gear management will be built. This system will be tested in the field where an AUV searches light balls attached on fishing gears. Effective management and control of fishing gear can manage the incidence of ghost fishing gear. It is expected that the system not only protects marine life but also reduces marine litter. This work provides a view of using the AUV and communication technology to drive commercial fisheries towards sustainability.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"46 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":"133719555","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
Underwater vehicle speedometry using differential pressure sensors: Preliminary results 使用差压传感器的水下航行器测速:初步结果
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778664
J. Fuentes‐Pérez, Kaia Kalev, J. Tuhtan, M. Kruusmaa
{"title":"Underwater vehicle speedometry using differential pressure sensors: Preliminary results","authors":"J. Fuentes‐Pérez, Kaia Kalev, J. Tuhtan, M. Kruusmaa","doi":"10.1109/AUV.2016.7778664","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778664","url":null,"abstract":"Underwater vehicles require accurate speedometry relative to local flow conditions to perform many tasks within the aquatic environment. This paper presents preliminary results of a differential pressure sensing system using an extension of the Pitot equation capable of providing instantaneous flow speed estimation, including yaw angles from ±45°. In contrast to systems with similar configuration based on absolute pressure sensor approaches, the differential system makes use of the pressure between two points on the sensor head, reducing the number of necessary sensors by half. The theoretical system performance and physical prototype are compared using computational fluid dynamics and flow tunnel tests from 0-0.5 m/s and angles of attack up to ±45°. The proposed speedometry device has a small form factor, uses inexpensive commodity hardware, is geometrically simple, accurate (mean absolute error of 0.024 m/s) and has low power consumption (<; 10 mW for each sensor) making it suitable for a wide spectrum of underwater vehicles.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 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":"116312099","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: 14
Modelling of an AUV with Voith-Schneider vector thruster 带Voith-Schneider矢量推进器的AUV建模
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778696
Rajat Mishra, M. Chitre
{"title":"Modelling of an AUV with Voith-Schneider vector thruster","authors":"Rajat Mishra, M. Chitre","doi":"10.1109/AUV.2016.7778696","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778696","url":null,"abstract":"First principles physics models are generally used in system identification of Autonomous Underwater Vehicles (AUVs). These models, through different parameters, capture the effects of hydrodynamics, inertial weight and other important characteristics. Due to the large number of parameters, which can number to hundreds, it is difficult to estimate such models. Moreover, AUV capabilities like thrust vectoring increases the non-linearity of the model. We suggest solving the problem of modelling AUVs with the help of a rectifier activated multilayer perceptron, making use of their motion data and control inputs. We also provide details on the optimisation of our model and compare its performance with that of a standard system identification technique. Although the rectifier neural network's performance was tested for a typical streamlined AUV with a Voith-Schneider thruster, the model presented here is general and can be easily extended to other systems.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"36 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":"129147603","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
Development of imaging sonar based autonomous trajectory backtracking using AUVs 基于成像声纳的水下机器人自主轨迹回溯研究
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778690
Byeongjin Kim, Hyeonwoo Cho, Son-cheol Yu
{"title":"Development of imaging sonar based autonomous trajectory backtracking using AUVs","authors":"Byeongjin Kim, Hyeonwoo Cho, Son-cheol Yu","doi":"10.1109/AUV.2016.7778690","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778690","url":null,"abstract":"We proposed an autonomous trajectory backtracking method using forward-looking imaging sonar. Additionally, we also dealt with a Fourier-based sonar image processing for the autonomous trajectory backtracking. We suggested an algorithm to estimate translational shifts and rotation angle between two sonar images. By feeding back the estimated data, AUV can compensate the drift error of dead-reckoning. To verify these algorithms, we used the field data obtained by the forward-looking imaging sonar of hovering-type AUV `Cyclops'. We verified accuracy and tolerance of the proposed algorithm by performing experiments.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"30 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":"123792034","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
Convolutional neural network-based real-time ROV detection using forward-looking sonar image 基于卷积神经网络的前视声纳图像ROV实时探测
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778702
Juhwan Kim, Son-cheol Yu
{"title":"Convolutional neural network-based real-time ROV detection using forward-looking sonar image","authors":"Juhwan Kim, Son-cheol Yu","doi":"10.1109/AUV.2016.7778702","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778702","url":null,"abstract":"Agent system is strategy to enhance the underwater manipulation. The conventional manipulation is generally robot arm-based configuration which has singular points. On the other hand, the agent system is an armless manipulation that the agent vehicle works as the end-effector. If the location of the agent can be measured, the end effector is able to be place to any position. To implement this system, the method of an agent vehicle localization is proposed. The method uses the sonar images of moving agent obtained by forward-looking sonar. To detect the location of the agent in the sonar images, the convolutional neural network is applied. We applied the state-of-art object-detection algorithm to the agent vehicle system. The fast object-detection algorithm based on neural network can fulfil the real-time detection and show the remarkable validity. It means the underwater robot can begin navigation under its feed-back. Through field experiment, we confirm the proposed method can detect and track the agent in the successive sonar images.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"48 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":"125170495","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: 54
Development of a propeller driven long range autonomous underwater vehicle (LRAUV) for under-ice mapping of oil spills and environmental hazards: An Arctic Domain Center of Awareness project (ADAC) 用于石油泄漏和环境危害冰下测绘的螺旋桨驱动远程自主水下航行器(LRAUV)的开发:北极领域意识中心项目(ADAC)
2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778655
A. Kukulya, J. Bellingham, J. Kaeli, C. Reddy, M. Godin, R. Conmy
{"title":"Development of a propeller driven long range autonomous underwater vehicle (LRAUV) for under-ice mapping of oil spills and environmental hazards: An Arctic Domain Center of Awareness project (ADAC)","authors":"A. Kukulya, J. Bellingham, J. Kaeli, C. Reddy, M. Godin, R. Conmy","doi":"10.1109/AUV.2016.7778655","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778655","url":null,"abstract":"The increasing level of commercial marine activity in high latitudes creates an ever growing risk of oil spills. Even in logistically accessible, ice-free oceans, characterizing the extent and nature of a spill can be challenging as highlighted by the Deepwater Horizon incident. We propose to develop an AUV-based approach inspired by an existing small, long-range system, called the Tethys Long-Range AUV (LRAUV), in order to support the Arctic Doman Awareness Center (ADAC) for spill preparedness.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"505 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":"127574992","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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