2016 IEEE/OES Autonomous Underwater Vehicles (AUV)最新文献_第4页

Transmitting Internet Protocol packets efficiently on underwater networks using entropy-encoder header translation 利用熵编码器报头转换在水下网络上有效传输互联网协议数据包

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778678

Toby Schneider

{"title":"Transmitting Internet Protocol packets efficiently on underwater networks using entropy-encoder header translation","authors":"Toby Schneider","doi":"10.1109/AUV.2016.7778678","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778678","url":null,"abstract":"The Internet Protocol (IP) is ubiquitous in terrestrial and electromagnetic-carrier wireless networking. However, for very low-throughput underwater links (such as those using acoustic modems) the IP header introduces an unacceptable amount of data overhead for the small maximum transmission units available on underwater acoustic links. Nonetheless, it is becoming increasingly valuable to connect undersea deployments to the internet to provide data to researchers on shore, and facilitate remote command of deployed vehicles and sensors. This paper details a technique to reversibly translate the IPv4 header to allow IP packets to traverse acoustic links but with a header that is an order of magnitude smaller than a regular IPv4 header. In addition, this technique provides support for translating the User Datagram Protocol (UDP) header to provide scalable multiplexing. This technique works by dynamically partitioning the address space into the required subnet size based on the number of communicating nodes, and applying a Huffman entropy encoder to the address values based on the probabilistic data flow amongst the nodes.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"28 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":"126277355","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

ASV MAINAMI for AUV monitoring and its sea trial 用于水下航行器监测的ASV MAINAMI及其海上试验

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778687

T. Nakatani, T. Hyakudome, T. Sawa, Y. Nakano, Yoshitaka Watanabe, T. Fukuda, H. Matsumoto, Ryotaro Suga, H. Yoshida

引用次数: 6

Underwater vehicle gesture control aided by air bubble motion observation 气泡运动观测辅助的水下航行器手势控制

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778697

Chih-Wei Lee, Rui Nian, Jenhwa Guo

引用次数: 1

Development of fuel cell system for long cruising lange Autonomous Underwater Vehicle 长巡航距离自主水下航行器燃料电池系统的研制

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778666

T. Hyakudome, T. Nakatani, H. Yoshida, Toshihiro Tani, Hideki Ito, Koki Sugihara

{"title":"Development of fuel cell system for long cruising lange Autonomous Underwater Vehicle","authors":"T. Hyakudome, T. Nakatani, H. Yoshida, Toshihiro Tani, Hideki Ito, Koki Sugihara","doi":"10.1109/AUV.2016.7778666","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778666","url":null,"abstract":"The use of Autonomous Underwater Vehicles (AUVs) is now widespread among the underwater observation and survey. Because AUVs are not restricted by an umbilical cable, we think that AUVs have the most suitable form to collect ocean data or work depending on subjects of survey efficiently in the same way as the sea lives with various forms. For example, form to collect ocean data while cruising in a huge range, form to collect the topography data of the seafloor and under the bottom of the sea while cruising with following seafloor, form to work such as the collection of the rock of the seafloor or the setting of the sensor on the seafloor, form to collect ocean data slowly and carefully without moving the investigation spot against the current and so on. Underwater power source is one of very important elements to operate electrically driven underwater vehicles. Because there are no energy supply places in underwater. Many research and development about the underwater power source are carried out in all over the world. When the research and development of the power source, following things need to be considered: small and light weight, put in a pressure vessel or resist against water pressure, work against low water temperature, without vibration and noise, reliability and ease of maintenance. The power source has heaviest weight with the components of the underwater vehicles. The paper reported that concepts of the body design and model experimental results show specification of fuel cell system and several experimental results.","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":"132595901","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 underwater swimming manipulator - a bio-inspired AUV 水下游泳操纵器——仿生AUV

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778701

J. Sverdrup-Thygeson, E. Kelasidi, K. Pettersen, J. Gravdahl

{"title":"The underwater swimming manipulator - a bio-inspired AUV","authors":"J. Sverdrup-Thygeson, E. Kelasidi, K. Pettersen, J. Gravdahl","doi":"10.1109/AUV.2016.7778701","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778701","url":null,"abstract":"Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle some of the lighter subsea operations, such as inspection, maintenance, and repair (IMR) and light intervention tasks. The successful transition to AUVs for inspection of subsea infrastructure has pushed the technology towards AUVs equipped with robotic arms. Some AUVs with attached manipulator arms have demonstrated autonomous light intervention, but the majority of such tasks are still carried out using tethered and expensive ROVs with support vessels. The underwater swimming manipulator (USM) presented in this paper, is a snake-like bio-inspired AUV with exceptional accessibility and flexibility, due to its slender, multi-articulated structure. In this paper, we discuss why the USM is an appropriate system for certain tasks that are normally carried out by conventional ROVs and AUVs. Furthermore, we address the topic of kinematic control of the USM to utilize the inherent redundancy. Finally, we present and make use of a newly developed and versatile simulation environment for USMs to assert the applicability of the USM for performing subsea inspections and light intervention.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1499 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":"127442772","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

High-precision underwater navigation using model-referenced pose estimation with monocular vision 基于模型参考姿态估计的单目视觉高精度水下导航

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778661

Jisung Park, Jinwhan Kim

引用次数: 6

AUV IRSAS for submarine hydrothermal deposits exploration 水下热液矿床勘探用AUV IRSAS

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778665

M. Kojima, A. Asada, K. Mizuno, K. Nagahashi, F. Katase, Yuta Saito, T. Ura

引用次数: 4

Development of AUV (MI) for strong ocean current and zero-visibility condition 强海流零能见度条件下AUV (MI)的研制

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778720

Juhyun Pyo, Son-cheol Yu

引用次数: 5

Real-time anomaly detection in side-scan sonar imagery for adaptive AUV missions 自适应水下航行器任务中侧扫声纳图像的实时异常检测

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778653

J. Kaeli

引用次数: 10

Underwater marking AUV using paraffin wax 使用石蜡对AUV进行水下标记

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI: 10.1109/AUV.2016.7778716

Seokyong Song, Son-cheol Yu

引用次数: 0