2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)最新文献

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Ship Hull Inspection using Remotely Operated Vehicle 使用遥控车辆进行船体检查
Ahmad Faris Ali, M. Arshad
{"title":"Ship Hull Inspection using Remotely Operated Vehicle","authors":"Ahmad Faris Ali, M. Arshad","doi":"10.1109/USYS56283.2022.10072609","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072609","url":null,"abstract":"This paper describes the application of a Remotely Operated Vehicle (ROV) platform for underwater ship hull inspection. A typical steel ship hull faced the problem of rust, cracks, corrosion, and marine growth due to the reactions of seawater. A diver is normally tasked to do the visual inspection before any repair is done at the damaged section. It is a risk to human divers and a safety issue that must be considered during the operation. Underwater, Control and Robotics Group (UCRG) USM has developed a prototype of a Remotely Operated Vehicle (ROV) for underwater inspection of the ship hull. It is advantageous for the ROV platform to conduct the exploration in a risky underwater environment or impractical for human divers such as underwater exploration. The ROV is guided by a human pilot through a cable providing the power and data communication medium to perform a localized inspection. The ROV is equipped with an underwater camera, lighting source, and several sensors to collect data and information regarding the ship hull’s condition during the inspection. The thrusters module provides the required movement for the ROV to move around the ship hull for inspection. The performance of the ROV prototype is suitable to execute the underwater ship hull inspection in a real environment.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127447940","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
Development of Amphibian Robot for Ship Hull Cleaning 用于船体清洗的两栖机器人研制
Muhammad Ammar Nor Azman, M. Faizal, Z. Z. Abidin, A. I. Ibrahim, M. A. Yamin, M. N. M. Salim, Marmeezee Mohd. Yusoff
{"title":"Development of Amphibian Robot for Ship Hull Cleaning","authors":"Muhammad Ammar Nor Azman, M. Faizal, Z. Z. Abidin, A. I. Ibrahim, M. A. Yamin, M. N. M. Salim, Marmeezee Mohd. Yusoff","doi":"10.1109/USYS56283.2022.10072521","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072521","url":null,"abstract":"Divers and inspectors are primarily in charge of a ship’s services and maintenance, which include a wide range of difficult tasks such as cleaning ship’s hull, inspecting the ship’s surface, and so on. In general, ship surfaces are cleaned on a regular basis, whereas drydock inspections are done once a year. This practices aids in ensuring low fuel economy of a ship’s performance; nonetheless, the process to execute the work has been identified as high risk. Considering how rapidly technology has advanced, a practical solution is needed. As a result, a new and inventive strategy is required to address these difficulties. This research describes the development of a permanent magnet wall climbing robot with a detachment platform. To demonstrate the concepts, a number of simulations and tests were performed on a prototype robot. The performance of the wall-climbing robot has been investigated, and further discussions regarding the experiments have been conducted in the research.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125376432","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
Modelling and controlling of Underwater Remotely Operated Vehicle vertical trajectory using Gradient Descent Algorithm Single Input Fuzzy Logic Controller and Fuzzy Logic Controller 基于梯度下降算法和模糊控制器的水下遥控机器人垂直轨迹建模与控制
Fauzal Naim Zohedi, M. Aras, H. Kasdirin, Mohd Bazli Bahar, M. K. Aripin, F. A. Azis
{"title":"Modelling and controlling of Underwater Remotely Operated Vehicle vertical trajectory using Gradient Descent Algorithm Single Input Fuzzy Logic Controller and Fuzzy Logic Controller","authors":"Fauzal Naim Zohedi, M. Aras, H. Kasdirin, Mohd Bazli Bahar, M. K. Aripin, F. A. Azis","doi":"10.1109/USYS56283.2022.10072761","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072761","url":null,"abstract":"Nowadays, an underwater exploration and inspection are done by using underwater remotely operated vehicle (ROV) to enhance safety to human and ease of any underwater task. It is challenging to control an underwater ROV due to the uncertainty of underwater environment. Simultaneous maneuvering and manipulating manipulator make it even harder for ROV operator to control ROV in certain positions. To ease the operator job, ROV vertical trajectory controller was designed. The trajectory movement was modelled using System Identification (SI) modeling technique. The SI technique was implement using MATLAB SI toolbox. Step and multiple steps input were given to the system to get the relationships of input and output. Then, the controller used to control the ROV were classical fuzzy logic (FLC) controller and Single Input Fuzzy Logic tuned by Gradient Descent Algorithm (GDA-SIFLC). The SI modelling result 84.7% best fit and verified with the actual output. The actual model has high percent overshoot (%OS) and steady state error (SSE). The model was then implemented with FLC controller and GDA-SIFLC controller to enhance the response. The FLC controller and GDA-SIFLC controller implementation has successfully reduce the %OS and almost eliminate the SSE.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116896607","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
A Two-Stage Kalman Filter for Integrated Navigation System of Underwater Vehicle 水下航行器组合导航系统的两级卡尔曼滤波
Chengsheng Yu, Fubin Zhang, Fan Zhang, Rui Yan
{"title":"A Two-Stage Kalman Filter for Integrated Navigation System of Underwater Vehicle","authors":"Chengsheng Yu, Fubin Zhang, Fan Zhang, Rui Yan","doi":"10.1109/USYS56283.2022.10073401","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10073401","url":null,"abstract":"The unmanned autonomous underwater vehicle (AUV) system cannot use GPS for accurate positioning when operating underwater, and the pure inertial guidance system has a large error in the dynamic process. In order to solve the problem, a combined navigation algorithm based on two-stage Kalman filter is proposed in this paper. The difference between the output speed of the micro-inertial navigation and DVL is taken as the first measurement of the filter, and then the difference between the calculated magnetic heading and the heading obtained by a feedback correction is used as the second measurement, so as to obtain high-precision navigation parameters and improve the positioning accuracy of the system. According to the experimental results, it can be seen that the algorithm in this paper realizes the high-precision estimation of heading and attitude, and the heading error is kept within the expectation, which greatly improves the positioning accuracy of the system.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128187227","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
Dynamic Modeling and Simulation an Underwater Vehicle Manipulator System 水下航行器机械臂系统动力学建模与仿真
L. Gao, Yunxuan Song, Jian Gao, Yimin Chen
{"title":"Dynamic Modeling and Simulation an Underwater Vehicle Manipulator System","authors":"L. Gao, Yunxuan Song, Jian Gao, Yimin Chen","doi":"10.1109/USYS56283.2022.10072517","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072517","url":null,"abstract":"We propose in this paper to apply the calculus idea of Morrison’s formula to approximate the hydrodynamic forces subjected to during the motion of the manipulator. And a complete hydrodynamic model of the underwater vehicle manipulator system(UVMS) is assured based on the traditional rigid body manipulator the Denavit-Hartenberg Covention and the Newton-Euler method. A five-time polynomial is applied for a Reach5 Mini(R5M) manipulator trajectory planning and a single-joint PD control algorithm is used for manipulator control. Simulations are used to validate the efficacy of the PD controller, and the positional change of the vehicle body under the influence of coupling action is obtained.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116552116","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
Radar-Based Collision Avoidance on Unmanned Surface Vehicles (USV) 基于雷达的无人水面车辆避碰技术
Muhammad Shahrul Afiq bin Mohamad Rafi, W. Sediono, Z. Z. Abidin
{"title":"Radar-Based Collision Avoidance on Unmanned Surface Vehicles (USV)","authors":"Muhammad Shahrul Afiq bin Mohamad Rafi, W. Sediono, Z. Z. Abidin","doi":"10.1109/USYS56283.2022.10073415","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10073415","url":null,"abstract":"The development of a viable unmanned surface vehicles (USV) is gaining momentum due to its diverse military and commercial applications. The fundamental problem in USV design is to overcome the measurement uncertainty of the sensors attached to the USV in the marine environment. The aim of this research is to create a collision avoidance model based on the ARPA radar with navigation information about the targets position and path. Information about moving and approaching targets is urgently needed to give USV more autonomy in understanding their environment. This information can help make an initial decision in the collision avoidance algorithm, as shown in this study. The classification of targets is performed based on radar plotting principle. Data of target’s CPA and the distance of approaching target is then calculated. This way of processing reduces the computational effort and gives more reliable results. Despite some limitations, the results show that the proposed method can be used as an alternative model for avoiding collision with a target ship approaching own ship.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123115242","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
Dynamic System Identification of Underwater Gliders based on Multi-output Gaussian Process 基于多输出高斯过程的水下滑翔机动态系统辨识
Li Guo, Boxv Min, Jian Gao, Anyan Jing, Jiarun Wang, Yimin Chen, Guang Pan
{"title":"Dynamic System Identification of Underwater Gliders based on Multi-output Gaussian Process","authors":"Li Guo, Boxv Min, Jian Gao, Anyan Jing, Jiarun Wang, Yimin Chen, Guang Pan","doi":"10.1109/USYS56283.2022.10072878","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072878","url":null,"abstract":"In this paper, a nonparametric system identification algorithm based on a multi-output Gaussian process for underwater gliders is proposed, which can predict the motion of UGs under the conditions of few training data, part measurable states, and high coupling degrees. The algorithm combines the nonlinear auto-regressive model with an external input structure and uses the conjugate gradient descent optimization algorithm to develop a nonparametric dynamic system identification scheme. The proposed scheme is implemented over data obtained from the simulated model of a UG ray-like manta of 5° and 10° Z-type steering data. The results show that the root means square errors of the prediction motion are less than 0.01500° compared with the real motion, and the multi-output Gaussian process can be accurately applied to the strong coupling, multi-degree-of-freedom (DOF) of the underwater gliders.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133514317","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
Autonomous Swimming Pool Cleaning Robot 自主泳池清洁机器人
Nur Ahmad Al-Maahi Bin Noorazman, A. I. Ibrahim
{"title":"Autonomous Swimming Pool Cleaning Robot","authors":"Nur Ahmad Al-Maahi Bin Noorazman, A. I. Ibrahim","doi":"10.1109/USYS56283.2022.10072465","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072465","url":null,"abstract":"A swimming pool cleaner robot cleans or removes dirt from the pool floor before sucking it out, preventing the dirt from returning to the pool water. Cleaning a swimming pool traditionally has been done by humans with a brush. Manual cleaning is time consuming. The pool floor cleaning robot will dive until it reaches the pool’s bottom or floor, brushing the filth there with a rolling brush, then sucking and filtering the brushed dirt so that it sticks to the filter and does not return to the pool water. This study will merely focus on designing and building the autonomous swimming pool cleaning robot. The robot is equipped with a navigation system using fuzzy logic and will clean the pool autonomously. The robot will utilize bilge pump and brush as its cleaning mechanism. As a result, the goal of this research is to create a swimming pool cleaning robot that can clean the pool floor autonomously and achieve an 80% hygiene level.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"563 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134066839","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
Multi-Stabilizer Devices for Marine Vessel, Design and Control – A Review
Harith Aslam Ahmad Naziri, A. I. Ibrahim
{"title":"Multi-Stabilizer Devices for Marine Vessel, Design and Control – A Review","authors":"Harith Aslam Ahmad Naziri, A. I. Ibrahim","doi":"10.1109/USYS56283.2022.10072471","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10072471","url":null,"abstract":"Over the years, a new improved technology, mechanisms and systems for marine vessels’ stabilization emerge to help improving the condition of crew, cargo or anything on-board that experience the possibilities of being capsized. Referring to marine environment, boat is undeniably subjected to interruption or disturbances from surrounding such as unpredictable waves and strong wind. A variety types of stabilizers are present with different performances based on various kind of control implemented merely to focus on improving the human condition during on-board operation such as berthing, drydocking, loading and unloading or mooring (static) regardless at the inshore or offshore location. Thus, this paper proposes then a review-based discussion of the solutions addressing the issue regarding rolling, including bilge keel, active fin, gyroscopic stabilizer and anti-rolling tank. In addition to this, it could be seen afterwards that none of them could be viewed as the best as for every mechanism they play different role for different ship condition. Though so, it is great to perceive that the existence of new advance technology such as gyrostabilizer is uniquely evolved to remove the extra drag, maintaining the speed of the ship while reducing rolling of the ship..","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130200792","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
Energy-Efficient Reinforcement Learning for Motion Planning of AUV 基于节能强化学习的AUV运动规划
Jiayi Wen, Jingwei Zhu, Yejin Lin, Gui-chen Zhang
{"title":"Energy-Efficient Reinforcement Learning for Motion Planning of AUV","authors":"Jiayi Wen, Jingwei Zhu, Yejin Lin, Gui-chen Zhang","doi":"10.1109/USYS56283.2022.10073111","DOIUrl":"https://doi.org/10.1109/USYS56283.2022.10073111","url":null,"abstract":"The accuracy of mapping results depends on the Autonomous Underwater Vehicles (AUVs) navigation errors. However, signals are attenuated drastically in water, which makes it difficult for AUVs to receive signals underwater. As a result, traditional navigation methods may become unreliable. In this paper, a terrain-aided navigation method that takes into account distance and energy consumption is proposed, which does not rely on a precise positioning system. Given the complexity of 3D terrain, this paper formulates the problem as a Markov decision process (MDP) and aims to minimise the energy cost function, where a motion planning method based on soft actor-critic (SAC) is formulated. Then a 3D energy consumption calculation method is developed for the AUV which is accurate for each time slot during the training process. Finally, experiments on the Gym platform were carried out to verify the effectiveness of the proposed method.","PeriodicalId":434350,"journal":{"name":"2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116897316","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
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