Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965893
Arasu Venkatesh Alavandar, M. Cocco
Larsen & Toubro, INDIA in conjunction with Edgelab Srl, ITALY have developed the Amogh Survey System, a new 1000m class autonomous underwater vehicle aimed at conducting planned hydrographic surveys using multiple sensors (payloads) namely, Multi-Beam Echo Sounder (MBES), Side Scan Sonar (SSS), Sub-Bottom Profiler (SBP), Underwater High resolution Camera and Conductivity Temperature and Depth (CTD) / Sound Velocity Profiler (SVP). Amogh’s survey system complies with the International Hydrographic Organization (IHO) Standard for Hydrographic Surveys S44 and IMO regulations for safety of navigation. The Amogh Survey System includes an electro-hydraulic telescopic launch frame and launch ramp capable of conducting AUV recovery operations by Nose-Line Recovery. The system can be installed on-board commercial and military survey ships, as well as vessels of opportunity such as barges and pontoons with minimal modifications. It can also be launched and recovered from the pier. It consists of a self-contained, air conditioned storage container with adequate space to additionally conduct maintenance of the vehicle.We present the vehicle design, system architecture, realization and results of sea trials performed in the Mediterranean Sea, off the west coast of Italy.
{"title":"Development of the Amogh Survey System","authors":"Arasu Venkatesh Alavandar, M. Cocco","doi":"10.1109/AUV53081.2022.9965893","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965893","url":null,"abstract":"Larsen & Toubro, INDIA in conjunction with Edgelab Srl, ITALY have developed the Amogh Survey System, a new 1000m class autonomous underwater vehicle aimed at conducting planned hydrographic surveys using multiple sensors (payloads) namely, Multi-Beam Echo Sounder (MBES), Side Scan Sonar (SSS), Sub-Bottom Profiler (SBP), Underwater High resolution Camera and Conductivity Temperature and Depth (CTD) / Sound Velocity Profiler (SVP). Amogh’s survey system complies with the International Hydrographic Organization (IHO) Standard for Hydrographic Surveys S44 and IMO regulations for safety of navigation. The Amogh Survey System includes an electro-hydraulic telescopic launch frame and launch ramp capable of conducting AUV recovery operations by Nose-Line Recovery. The system can be installed on-board commercial and military survey ships, as well as vessels of opportunity such as barges and pontoons with minimal modifications. It can also be launched and recovered from the pier. It consists of a self-contained, air conditioned storage container with adequate space to additionally conduct maintenance of the vehicle.We present the vehicle design, system architecture, realization and results of sea trials performed in the Mediterranean Sea, off the west coast of Italy.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122592308","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965882
J. Salazar, Levi Cai, Braden Cook, D. Rus
The coordination and control of autonomous underwater vehicle (AUV) fleets in ocean exploration is a widely researched topic with much groundwork for traditional AUVs. Depending on the mission, AUV fleets can relax mission constraints on individual vehicles and improve a number of performance objectives (e.g. duration, sampling rate, area coverage). As missions begin to require navigation within more confined areas such as caves and coral reefs, however, safe interaction with such environments becomes more difficult for typical rigid AUVs and more feasible for soft, compliant underwater robots that can adaptively deform to their surroundings. Moreover, soft underwater robots show great promise as biomimetic vehicles that can take inspiration from nature’s swimmers and help answer questions about their behavior, for instance about the schooling capabilities observed in many fish species. Unfortunately, few fully autonomous, self-contained underwater soft robots have been developed, let alone fleets of such robots. To address this, we present a milestone towards formation control of a fully autonomous, multi-soft robotic fleet inspired by fish schooling. We present a vision-based, leader-follower formation strategy using an untethered soft robotic fish (SoFi) platform that enables one SoFi robot to pursue another via a visual servoing behavior. Our system demonstrates basic formation control of a pair of fully autonomous, self-contained soft robotic fish without external input.
{"title":"Multi-Robot Visual Control of Autonomous Soft Robotic Fish","authors":"J. Salazar, Levi Cai, Braden Cook, D. Rus","doi":"10.1109/AUV53081.2022.9965882","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965882","url":null,"abstract":"The coordination and control of autonomous underwater vehicle (AUV) fleets in ocean exploration is a widely researched topic with much groundwork for traditional AUVs. Depending on the mission, AUV fleets can relax mission constraints on individual vehicles and improve a number of performance objectives (e.g. duration, sampling rate, area coverage). As missions begin to require navigation within more confined areas such as caves and coral reefs, however, safe interaction with such environments becomes more difficult for typical rigid AUVs and more feasible for soft, compliant underwater robots that can adaptively deform to their surroundings. Moreover, soft underwater robots show great promise as biomimetic vehicles that can take inspiration from nature’s swimmers and help answer questions about their behavior, for instance about the schooling capabilities observed in many fish species. Unfortunately, few fully autonomous, self-contained underwater soft robots have been developed, let alone fleets of such robots. To address this, we present a milestone towards formation control of a fully autonomous, multi-soft robotic fleet inspired by fish schooling. We present a vision-based, leader-follower formation strategy using an untethered soft robotic fish (SoFi) platform that enables one SoFi robot to pursue another via a visual servoing behavior. Our system demonstrates basic formation control of a pair of fully autonomous, self-contained soft robotic fish without external input.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192987","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965822
Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer
The hull of an Autonomous Underwater Vehicle (AUV) is one of the main factors that determine its overall compressibility and drag. The hull as well, acting as a pressure vessel, is the most essential part that will allow the vehicle to accomplish deep diving. In order to minimize the total weight and volume of the vehicle, many modern vehicles benefit from composite materials rather than conventional materials. Moisture absorption, known as the hygral effect, has a significant impact on the mechanical properties of the material. Not to mention it also has an effect on the buoyancy of the vehicle, since the overall weight changes. This paper characterizes the seawater absorption and diffusivity of Carbon Fiber Reinforced Epoxy (CFRE) pressure hull samples in ambient conditions at sea level and at 1000m depth. The tests were performed using seawater taken from Oslo fjord in Norway and using a pressure vessel. Twelve specimens, all manufactured from CFRE using filament winding technique, were tested in both conditions, and the moisture absorption curve is compared. Periodic gravimetric measurements were taken, where the equilibrium state was reached after approximately 65 days at sea level and after 35 days at 1000m depth. The results showed that moisture diffusivity for composites used in underwater applications should be defined by both pressure and temperature since it changes with respect to submersion depth.
{"title":"Moisture diffusivity of CFRE for an AUV hull at 1000m depth","authors":"Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer","doi":"10.1109/AUV53081.2022.9965822","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965822","url":null,"abstract":"The hull of an Autonomous Underwater Vehicle (AUV) is one of the main factors that determine its overall compressibility and drag. The hull as well, acting as a pressure vessel, is the most essential part that will allow the vehicle to accomplish deep diving. In order to minimize the total weight and volume of the vehicle, many modern vehicles benefit from composite materials rather than conventional materials. Moisture absorption, known as the hygral effect, has a significant impact on the mechanical properties of the material. Not to mention it also has an effect on the buoyancy of the vehicle, since the overall weight changes. This paper characterizes the seawater absorption and diffusivity of Carbon Fiber Reinforced Epoxy (CFRE) pressure hull samples in ambient conditions at sea level and at 1000m depth. The tests were performed using seawater taken from Oslo fjord in Norway and using a pressure vessel. Twelve specimens, all manufactured from CFRE using filament winding technique, were tested in both conditions, and the moisture absorption curve is compared. Periodic gravimetric measurements were taken, where the equilibrium state was reached after approximately 65 days at sea level and after 35 days at 1000m depth. The results showed that moisture diffusivity for composites used in underwater applications should be defined by both pressure and temperature since it changes with respect to submersion depth.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"336 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122538244","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965809
Reeve Lambert, Jalil Chavez-Galaviz, Brian R. Page, N. Mahmoudian
This paper presents experimental ground truth data validation of the ability of Underwater Gliders (UGs) to maneuver in constrained environments through starting, stopping, and maintaining turning motions on demand. This capability has been validated in a pool on a custom made highly maneuverable underwater glider, ROUGHIE, using an underwater motion capture system for ground truth pose tracking. The experiments indicate that ROUGHIE is capable of robust and repeatable operation on complex paths due to its ability to effectively transition between stable flights and follow concatenated flight patterns. These maneuvers are accomplished on ROUGHIE through the injection of a neutrally buoyant vehicle state that enables ROUGHIE to maintain stability while transitioning between stable flights. Other internally actuated gliders can perform similar operations if they rapidly and efficiently start, stop, and maintain turns at different moments during the operation. The ground truth data presented here forms a basis for future work on data-driven modelling of UGs to enable complex mission operations.
{"title":"Experimental Verification of Underwater Glider Maneuvering in Constrained Environments","authors":"Reeve Lambert, Jalil Chavez-Galaviz, Brian R. Page, N. Mahmoudian","doi":"10.1109/AUV53081.2022.9965809","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965809","url":null,"abstract":"This paper presents experimental ground truth data validation of the ability of Underwater Gliders (UGs) to maneuver in constrained environments through starting, stopping, and maintaining turning motions on demand. This capability has been validated in a pool on a custom made highly maneuverable underwater glider, ROUGHIE, using an underwater motion capture system for ground truth pose tracking. The experiments indicate that ROUGHIE is capable of robust and repeatable operation on complex paths due to its ability to effectively transition between stable flights and follow concatenated flight patterns. These maneuvers are accomplished on ROUGHIE through the injection of a neutrally buoyant vehicle state that enables ROUGHIE to maintain stability while transitioning between stable flights. Other internally actuated gliders can perform similar operations if they rapidly and efficiently start, stop, and maintain turns at different moments during the operation. The ground truth data presented here forms a basis for future work on data-driven modelling of UGs to enable complex mission operations.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115667750","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965805
Bharat Joshi, M. Xanthidis, Monika Roznere, Nathaniel Burgdorfer, Philippos Mordohai, Alberto Quattrini Li, Ioannis M. Rekleitis
This paper analyzes the open challenges of exploring and mapping in the underwater realm with the goal of identifying research opportunities that will enable an Autonomous Underwater Vehicle (AUV) to robustly explore different environments. A taxonomy of environments based on their 3D structure is presented together with an analysis on how that influences the camera placement. The difference between exploration and coverage is presented and how they dictate different motion strategies. Loop closure, while critical for the accuracy of the resulting map, proves to be particularly challenging due to the limited field of view and the sensitivity to viewing direction. Experimental results of enforcing loop closures in underwater caves demonstrate a novel navigation strategy. Dense 3D mapping, both online and offline, as well as other sensor configurations are discussed following the presented taxonomy. Experimental results from field trials illustrate the above analysis.
{"title":"Underwater Exploration and Mapping","authors":"Bharat Joshi, M. Xanthidis, Monika Roznere, Nathaniel Burgdorfer, Philippos Mordohai, Alberto Quattrini Li, Ioannis M. Rekleitis","doi":"10.1109/AUV53081.2022.9965805","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965805","url":null,"abstract":"This paper analyzes the open challenges of exploring and mapping in the underwater realm with the goal of identifying research opportunities that will enable an Autonomous Underwater Vehicle (AUV) to robustly explore different environments. A taxonomy of environments based on their 3D structure is presented together with an analysis on how that influences the camera placement. The difference between exploration and coverage is presented and how they dictate different motion strategies. Loop closure, while critical for the accuracy of the resulting map, proves to be particularly challenging due to the limited field of view and the sensitivity to viewing direction. Experimental results of enforcing loop closures in underwater caves demonstrate a novel navigation strategy. Dense 3D mapping, both online and offline, as well as other sensor configurations are discussed following the presented taxonomy. Experimental results from field trials illustrate the above analysis.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121367375","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965871
Leonardo Zacchini, A. Ridolfi, B. Allotta
This paper introduces an innovative methodology for enabling AUVs to explore an area of interest while simultaneously look for and localize OPIs. A probabilistic semantic occupancy mapping solution that fuses an FLS-based mapping solution and a CNN-based ATR strategy has been designed. In detail. it permits to includes the knowledge about the presence of the OPIs by using the ATR findings. The semantic map enables the Informative Path Planning algorithm to generate paths that cover the area of interest and simultaneously reduces the target localization uncertainty. Therefore, this methodology allows an AUV to meaningfully perceive and model the solution surroundings and autonomously conduct inspections surveys. The proposed solution has been validated with realistic simulations made by means of the Unmanned Underwater Vehicle Simulator, where a dynamic model of FeelHippo AUV was implemented.
{"title":"Target-aware Informative Path Planning and semantic occupancy mapping for AUV autonomous inspections","authors":"Leonardo Zacchini, A. Ridolfi, B. Allotta","doi":"10.1109/AUV53081.2022.9965871","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965871","url":null,"abstract":"This paper introduces an innovative methodology for enabling AUVs to explore an area of interest while simultaneously look for and localize OPIs. A probabilistic semantic occupancy mapping solution that fuses an FLS-based mapping solution and a CNN-based ATR strategy has been designed. In detail. it permits to includes the knowledge about the presence of the OPIs by using the ATR findings. The semantic map enables the Informative Path Planning algorithm to generate paths that cover the area of interest and simultaneously reduces the target localization uncertainty. Therefore, this methodology allows an AUV to meaningfully perceive and model the solution surroundings and autonomously conduct inspections surveys. The proposed solution has been validated with realistic simulations made by means of the Unmanned Underwater Vehicle Simulator, where a dynamic model of FeelHippo AUV was implemented.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116686131","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965804
Jalil Chavez-Galaviz, N. Mahmoudian
Underwater docking is a staged process in which the detection of the dock is crucial. It allows Autonomous Underwater Vehicles (AUVs) to recharge and transfer data, enabling long-term missions; recent work shows that deep learning can be used to robustly perform docking detection at the expense of a large amount of resources for deployment on embedded devices. This paper proposes a method to efficiently train a Convolutional Neural Network (CNN) to detect a docking station using knowledge distillation under the teacher-student architecture. Additionally, to augment the amount of data available for training, we use two methods to generate synthetic datasets, one utilizing a CycleGAN network and another using an Artistic Style transfer network. Furthermore, we show the benefit of using synthetic data during the training of the CNNs and compare the performance of the teacher and the student networks on actual underwater data.
{"title":"Efficient Underwater Docking Detection using Knowledge Distillation and Artificial Image Generation","authors":"Jalil Chavez-Galaviz, N. Mahmoudian","doi":"10.1109/AUV53081.2022.9965804","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965804","url":null,"abstract":"Underwater docking is a staged process in which the detection of the dock is crucial. It allows Autonomous Underwater Vehicles (AUVs) to recharge and transfer data, enabling long-term missions; recent work shows that deep learning can be used to robustly perform docking detection at the expense of a large amount of resources for deployment on embedded devices. This paper proposes a method to efficiently train a Convolutional Neural Network (CNN) to detect a docking station using knowledge distillation under the teacher-student architecture. Additionally, to augment the amount of data available for training, we use two methods to generate synthetic datasets, one utilizing a CycleGAN network and another using an Artistic Style transfer network. Furthermore, we show the benefit of using synthetic data during the training of the CNNs and compare the performance of the teacher and the student networks on actual underwater data.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129449832","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965787
Yang Weng, T. Matsuda, Yuki Sekimori, J. Pajarinen, Jan-Martin Peters, T. Maki
Time synchronization in autonomous underwater vehicle (AUV) formations is significant for joint underwater survey tasks. Maintaining a common time scale can improve the efficiency of cooperative localization, formation control, and data fusion. Instead of using atomic clocks to limit the offset and drift of time, we propose an acoustic and optical cooperative method to synchronize the clocks. Acoustic communication is used to guide the establishment of the optical link and to share the states of the AUVs, while optical communication is used to measure the time difference between the clocks of the two AUVs. The field experiments demonstrated that our proposed method can perform time synchronization in real scenarios.
{"title":"Time Synchronization Scheme of Underwater Platforms Using Wireless Acoustic and Optical Communication","authors":"Yang Weng, T. Matsuda, Yuki Sekimori, J. Pajarinen, Jan-Martin Peters, T. Maki","doi":"10.1109/AUV53081.2022.9965787","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965787","url":null,"abstract":"Time synchronization in autonomous underwater vehicle (AUV) formations is significant for joint underwater survey tasks. Maintaining a common time scale can improve the efficiency of cooperative localization, formation control, and data fusion. Instead of using atomic clocks to limit the offset and drift of time, we propose an acoustic and optical cooperative method to synchronize the clocks. Acoustic communication is used to guide the establishment of the optical link and to share the states of the AUVs, while optical communication is used to measure the time difference between the clocks of the two AUVs. The field experiments demonstrated that our proposed method can perform time synchronization in real scenarios.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133450726","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965837
L. Lindzey, Isaac Vandor, Toby Schneider, E. Gallimore, C. Kaiser, M. Jakuba
Scientific seabed surveys often require the use of multiple sensing modalities with different capabilities and operational requirements. When using AUVs, this is often accomplished via a series of dives, between which operators examine collected data and plan the subsequent survey. Planning a follow-up survey while the vehicle is still in the water dramatically improves operational efficiency, but requires that topside scientists receive information from the initial survey during the dive. With this motivation, we developed a toolbox for CoExploration that is designed to acoustically transmit scientifically-actionable data, making use of any bandwidth that is not required for safe vehicle operation. This paper describes utilities for incrementally transmitting a multi-resolution multibeam map and for progressive transmission of camera imagery, along with field results from their first use on the NUI hybrid AUV/ROV.
{"title":"CoExploration for Adaptive AUV Survey","authors":"L. Lindzey, Isaac Vandor, Toby Schneider, E. Gallimore, C. Kaiser, M. Jakuba","doi":"10.1109/AUV53081.2022.9965837","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965837","url":null,"abstract":"Scientific seabed surveys often require the use of multiple sensing modalities with different capabilities and operational requirements. When using AUVs, this is often accomplished via a series of dives, between which operators examine collected data and plan the subsequent survey. Planning a follow-up survey while the vehicle is still in the water dramatically improves operational efficiency, but requires that topside scientists receive information from the initial survey during the dive. With this motivation, we developed a toolbox for CoExploration that is designed to acoustically transmit scientifically-actionable data, making use of any bandwidth that is not required for safe vehicle operation. This paper describes utilities for incrementally transmitting a multi-resolution multibeam map and for progressive transmission of camera imagery, along with field results from their first use on the NUI hybrid AUV/ROV.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125865368","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}
Pub Date : 2022-09-19DOI: 10.1109/AUV53081.2022.9965848
E. Gallimore, Dennis Giaya, Brennan Miller-Klugman, Caileigh Fitzgerald, Kayleah Griffen, L. Lindzey, L. Freitag
A software framework, “ros_acomms,” has been developed to enable transport of ROS messages and other data across low-throughput and high-latency underwater acoustic links. Messages are efficiently marshalled using user-provided configuration data, if available, or automatically via message introspection. A modular set of modem drivers, media-access-control engines, and message queues transport messages from one system to another via a modem. It supports message fragmentation, positive acknowledgment, and custody-transfer routing. It also includes an acoustic link simulator that uses a raytracing model to estimate link performance and latency. While it targets the WHOI Micromodem family of acoustic modems, the modular modem driver implementation has been leveraged to support low-throughput Iridium satellite links and other acoustic modems. It has been tested and used operationally at sea for remote redirection of autonomous underwater vehicles while providing operators with near real time vehicle telemetry and sensor data.
{"title":"ROS Message Transport over Underwater Acoustic Links with ros_acomms","authors":"E. Gallimore, Dennis Giaya, Brennan Miller-Klugman, Caileigh Fitzgerald, Kayleah Griffen, L. Lindzey, L. Freitag","doi":"10.1109/AUV53081.2022.9965848","DOIUrl":"https://doi.org/10.1109/AUV53081.2022.9965848","url":null,"abstract":"A software framework, “ros_acomms,” has been developed to enable transport of ROS messages and other data across low-throughput and high-latency underwater acoustic links. Messages are efficiently marshalled using user-provided configuration data, if available, or automatically via message introspection. A modular set of modem drivers, media-access-control engines, and message queues transport messages from one system to another via a modem. It supports message fragmentation, positive acknowledgment, and custody-transfer routing. It also includes an acoustic link simulator that uses a raytracing model to estimate link performance and latency. While it targets the WHOI Micromodem family of acoustic modems, the modular modem driver implementation has been leveraged to support low-throughput Iridium satellite links and other acoustic modems. It has been tested and used operationally at sea for remote redirection of autonomous underwater vehicles while providing operators with near real time vehicle telemetry and sensor data.","PeriodicalId":148195,"journal":{"name":"2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129270817","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}
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