Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778703
M. F. Yahya, M. Arshad
Underwater docking for an autonomous underwater vehicle is important in sense that the vehicle can stop at a docking station to recharge its battery, transfer data, and can be used for launch and recovery system. To perform docking, recognizing the station through vision is important. There are few researches conducted on underwater docking using vision to recognize targets as guidance for the underwater vehicle to home towards the station. In those researches, docking is unsuccessful when one or more of the targets are not detectable. Specifically, the image processing part failed to recognize the target if the number of target taken from a captured image is not the same as the number of target in a desired image. This paper proposes a robust recognition of targets algorithm using bounding box partitioning to overcome the aforementioned problem. Result shows that the algorithm is capable to recognize the targets even if some of the targets went missing.
{"title":"Robust recognition of targets for underwater docking of autonomous underwater vehicle","authors":"M. F. Yahya, M. Arshad","doi":"10.1109/AUV.2016.7778703","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778703","url":null,"abstract":"Underwater docking for an autonomous underwater vehicle is important in sense that the vehicle can stop at a docking station to recharge its battery, transfer data, and can be used for launch and recovery system. To perform docking, recognizing the station through vision is important. There are few researches conducted on underwater docking using vision to recognize targets as guidance for the underwater vehicle to home towards the station. In those researches, docking is unsuccessful when one or more of the targets are not detectable. Specifically, the image processing part failed to recognize the target if the number of target taken from a captured image is not the same as the number of target in a desired image. This paper proposes a robust recognition of targets algorithm using bounding box partitioning to overcome the aforementioned problem. Result shows that the algorithm is capable to recognize the targets even if some of the targets went missing.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"11 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":"128100566","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778712
H. Roh, Hangil Joe, Son-cheol Yu
Underwater observation is important technology for marine research. However, limited visibility of sea water, it takes long time to collect wide images and data. In this paper, we propose novel underwater observation system named SWAN. SWAN is multi-agent system composed of the main AUV and agents. The agents are linked by tethers with the main AUV. It enables that the main AUV could track the agents. From this position keeping technology, SWAN could gather mosaicing images quickly and efficiently.
{"title":"Simultaneous wide area scan purpose AUV with tethered multi-agent (SWAN)","authors":"H. Roh, Hangil Joe, Son-cheol Yu","doi":"10.1109/AUV.2016.7778712","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778712","url":null,"abstract":"Underwater observation is important technology for marine research. However, limited visibility of sea water, it takes long time to collect wide images and data. In this paper, we propose novel underwater observation system named SWAN. SWAN is multi-agent system composed of the main AUV and agents. The agents are linked by tethers with the main AUV. It enables that the main AUV could track the agents. From this position keeping technology, SWAN could gather mosaicing images quickly and efficiently.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"45 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":"123930023","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778659
E. K. Jørgensen, I. Schjølberg
This paper considers the problem of constructing an estimator for attitude and gyro bias with close-to-optimal noise properties and proven stability. The estimator is based on measuring difference in range from three or more known, fixed positions to two or more points on the vehicle. In addition, IMU measurements are also used, and a position estimate is needed. The vectors between points on the vehicle are known in the body frame and estimated in the inertial frame using the available measurements. A non-linear observer is used to create a linearization point for a Linearized Kalman Filter taking the full, non-linear system into account. Simulations suggest that the estimator has similar noise properties as an optimal, non-implementable linearized Kalman Filter using the exact state as linearization point.
{"title":"Attitude and Gyro bias estimation using range-difference and IMU measurements","authors":"E. K. Jørgensen, I. Schjølberg","doi":"10.1109/AUV.2016.7778659","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778659","url":null,"abstract":"This paper considers the problem of constructing an estimator for attitude and gyro bias with close-to-optimal noise properties and proven stability. The estimator is based on measuring difference in range from three or more known, fixed positions to two or more points on the vehicle. In addition, IMU measurements are also used, and a position estimate is needed. The vectors between points on the vehicle are known in the body frame and estimated in the inertial frame using the available measurements. A non-linear observer is used to create a linearization point for a Linearized Kalman Filter taking the full, non-linear system into account. Simulations suggest that the estimator has similar noise properties as an optimal, non-implementable linearized Kalman Filter using the exact state as linearization point.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"438 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":"116016873","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778711
Sathyaram Venkatesan
Global demand for air travel has increased significantly by the emerging economics. However, the Flight accident is major threat to human life. On many occasions the accident happened when aircraft fly over the ocean, because 71% of the Earth's surface is covered by ocean. This paper describes a proposal to develop full automated underwater vehicle system for Search and Rescue (SAR) application within the golden window of 72 hours. This is supported by automated surface vehicles coordinated from Mission Control Centre, AUV Master& Slave model and computerized algorithm for SAR using mathematical modeling approach to reduce time. This concept can serve as a valuable emergency life-saving technology to save more lives while racing against time in offshore and near shore SAR operations.
{"title":"AUV for Search & Rescue at sea - an innovative approach","authors":"Sathyaram Venkatesan","doi":"10.1109/AUV.2016.7778711","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778711","url":null,"abstract":"Global demand for air travel has increased significantly by the emerging economics. However, the Flight accident is major threat to human life. On many occasions the accident happened when aircraft fly over the ocean, because 71% of the Earth's surface is covered by ocean. This paper describes a proposal to develop full automated underwater vehicle system for Search and Rescue (SAR) application within the golden window of 72 hours. This is supported by automated surface vehicles coordinated from Mission Control Centre, AUV Master& Slave model and computerized algorithm for SAR using mathematical modeling approach to reduce time. This concept can serve as a valuable emergency life-saving technology to save more lives while racing against time in offshore and near shore SAR operations.","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":"130934156","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778668
S. Yoshida, M. Tanomura, Y. Hama, T. Hirose, A. Suzuki, Y. Matsui, N. Sogo, R. Sato
The world-first wireless charging via seawater for non-fixed UUV in the ocean and its system configuration was successfully demonstrated.
成功演示了全球首个海洋非固定式无人潜航器的海水无线充电及其系统配置。
{"title":"Underwater wireless power transfer for non-fixed unmanned underwater vehicle in the ocean","authors":"S. Yoshida, M. Tanomura, Y. Hama, T. Hirose, A. Suzuki, Y. Matsui, N. Sogo, R. Sato","doi":"10.1109/AUV.2016.7778668","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778668","url":null,"abstract":"The world-first wireless charging via seawater for non-fixed UUV in the ocean and its system configuration was successfully demonstrated.","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":"133406080","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778710
Masatsugu Ogawa, M. Emura, Masumi Ichien, M. Yano
Unmanned and autonomous vehicles (UxV) are one of most attractive and important technologies for many kinds of applications. A lot of researches related to multi UxVs have been made enthusiastically for the last several decades because there is a trend to use those UxVs as a swarm. When the algorisms are implemented in UxVs for real operations, the algorism must adapt to a lot of unexpected environmental changes and events occurred in the real world. In general, it is difficult that an algorism reconciles the adaptability and optimization for a mission. In this context, we have been investigated the adaptive mechanism inspired by living organisms and realized a new control algorism called as “Autonomous and adaptive control”. This proposed algorism reconciles adaptability and ability of optimization for a mission of multi UxVs. In this paper, we apply the algorism to a use case of target tracking. It was confirmed that our algorism achieve most optimal operation in comparison of conventional algorisms with respect to energy consumption of the operation and the defense ability while keeping high detection ability. We also think that our algorism will be used for a lot of other use cases with multi UxVs.
{"title":"“Autonomous and Adaptive Control”: Collaborative swarm control algorism inspired by adaptive mechanism of living organisms","authors":"Masatsugu Ogawa, M. Emura, Masumi Ichien, M. Yano","doi":"10.1109/AUV.2016.7778710","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778710","url":null,"abstract":"Unmanned and autonomous vehicles (UxV) are one of most attractive and important technologies for many kinds of applications. A lot of researches related to multi UxVs have been made enthusiastically for the last several decades because there is a trend to use those UxVs as a swarm. When the algorisms are implemented in UxVs for real operations, the algorism must adapt to a lot of unexpected environmental changes and events occurred in the real world. In general, it is difficult that an algorism reconciles the adaptability and optimization for a mission. In this context, we have been investigated the adaptive mechanism inspired by living organisms and realized a new control algorism called as “Autonomous and adaptive control”. This proposed algorism reconciles adaptability and ability of optimization for a mission of multi UxVs. In this paper, we apply the algorism to a use case of target tracking. It was confirmed that our algorism achieve most optimal operation in comparison of conventional algorisms with respect to energy consumption of the operation and the defense ability while keeping high detection ability. We also think that our algorism will be used for a lot of other use cases with multi UxVs.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"63 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":"132864175","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778663
Oscar Viquez, E. Fischell, N. Rypkema, H. Schmidt
Advances in computer hardware and sensing technologies have enabled the design and development of low-cost autonomous underwater vehicles (AUVs). The reduced cost of new platforms such as the Bluefin SandShark present the opportunity for more frequent and high-risk AUV-based experiments and reduce the barrier to entry for multi-vehicle operations. The smaller size of these new vehicles compared to AUV platforms typically used for ocean exploration also makes deployment and operations possible in accessible smaller bodies of water such as lakes and rivers. However, the limited payload space and power availability of these platforms constrains the types of sensors that may be installed, demanding a compromise between operating range, mission duration, and sensor use. This paper describes the design of a standard payload for low-cost AUVs based on these constraints, and the implementation of that payload for autonomy, acoustic and environmental research in stand-alone configuration and on a Bluefin SandShark AUV.
{"title":"Design of a general autonomy payload for low-cost AUV R&D","authors":"Oscar Viquez, E. Fischell, N. Rypkema, H. Schmidt","doi":"10.1109/AUV.2016.7778663","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778663","url":null,"abstract":"Advances in computer hardware and sensing technologies have enabled the design and development of low-cost autonomous underwater vehicles (AUVs). The reduced cost of new platforms such as the Bluefin SandShark present the opportunity for more frequent and high-risk AUV-based experiments and reduce the barrier to entry for multi-vehicle operations. The smaller size of these new vehicles compared to AUV platforms typically used for ocean exploration also makes deployment and operations possible in accessible smaller bodies of water such as lakes and rivers. However, the limited payload space and power availability of these platforms constrains the types of sensors that may be installed, demanding a compromise between operating range, mission duration, and sensor use. This paper describes the design of a standard payload for low-cost AUVs based on these constraints, and the implementation of that payload for autonomy, acoustic and environmental research in stand-alone configuration and on a Bluefin SandShark AUV.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"101 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":"131427247","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778714
Sophia M. Schillai
A current challenge for AUV missions is to combine long endurance with high manoeuvrability. The proposed Pipefish AUV is a long endurance AUV capable of high quality survey missions that can deliver multiple hover capable AUVs to sites of interest. The Pipefish AUV and the small vehicles can perform cooperative tasks and reach remote locations without the need for a monitoring surface vessel. It is shown that an endurance of six days can be achieved, whilst transporting smaller AUVs of a volume of almost two cubic metres.
{"title":"Pipefish AUV: The flight style AUV delivering small, purpose built, hover capable AUVs","authors":"Sophia M. Schillai","doi":"10.1109/AUV.2016.7778714","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778714","url":null,"abstract":"A current challenge for AUV missions is to combine long endurance with high manoeuvrability. The proposed Pipefish AUV is a long endurance AUV capable of high quality survey missions that can deliver multiple hover capable AUVs to sites of interest. The Pipefish AUV and the small vehicles can perform cooperative tasks and reach remote locations without the need for a monitoring surface vessel. It is shown that an endurance of six days can be achieved, whilst transporting smaller AUVs of a volume of almost two cubic metres.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"104 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":"117187736","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778683
A. Mascarenhas, A. Sanjeev, P. Maurya, L. Fernandes, R. Madhan, E. de Sa, N. Dabholkar, G. Navelkar, Lakshadeep Naik, Vidish G. Shetye, N. B. Shetty, S. Prabhudesai, S. Nagvekar, Vimalakumari D
The seabed resident event driven profiling system (SREP) described here offers a novel, optimized approach to profiling in coastal waters from seabed to sea surface during the rough seas encountered in the southwest monsoon season (June-Sept). It consists of a winch system and a tethered instrumented profiler. The winch system launches and retrieves the profiler. The tethered profiler is programmed to move up and down the water column to sample and transmit water column properties when it reaches the sea surface. It uses standard oceanographic sensors to measure vertical structure at ~0.25m resolution. The major challenges addressed in this paper are long endurance of three months, underwater acoustic communications between the sea bed and the profiler unit and data transmission by the profiler to the shore.
{"title":"Seabed resident event driven profiling system (SREP). Concept, design and tests","authors":"A. Mascarenhas, A. Sanjeev, P. Maurya, L. Fernandes, R. Madhan, E. de Sa, N. Dabholkar, G. Navelkar, Lakshadeep Naik, Vidish G. Shetye, N. B. Shetty, S. Prabhudesai, S. Nagvekar, Vimalakumari D","doi":"10.1109/AUV.2016.7778683","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778683","url":null,"abstract":"The seabed resident event driven profiling system (SREP) described here offers a novel, optimized approach to profiling in coastal waters from seabed to sea surface during the rough seas encountered in the southwest monsoon season (June-Sept). It consists of a winch system and a tethered instrumented profiler. The winch system launches and retrieves the profiler. The tethered profiler is programmed to move up and down the water column to sample and transmit water column properties when it reaches the sea surface. It uses standard oceanographic sensors to measure vertical structure at ~0.25m resolution. The major challenges addressed in this paper are long endurance of three months, underwater acoustic communications between the sea bed and the profiler unit and data transmission by the profiler to the shore.","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":"130506558","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778692
Yuto Otsuki, B. Thornton, T. Maki, Yuya Nishida, A. Bodenmann, Kazunori Nagano
This paper describes a method to optimize the spatial resolution of image surveys based on the spatial scale of features on the seafloor that are not known prior to observation. The method makes use of the density of visual features as a measure of the complexity of a seafloor image. In order to achieve this, two approaches to assess scene complexity we investigated. The performance of the method was verified using seafloor imagery obtained in the Iheya North field in the Okinawa Trough. The results demonstrate that it is effective for a large range of feature sizes.
{"title":"Real-time autonomous multi resolution visual surveys based on seafloor scene complexity","authors":"Yuto Otsuki, B. Thornton, T. Maki, Yuya Nishida, A. Bodenmann, Kazunori Nagano","doi":"10.1109/AUV.2016.7778692","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778692","url":null,"abstract":"This paper describes a method to optimize the spatial resolution of image surveys based on the spatial scale of features on the seafloor that are not known prior to observation. The method makes use of the density of visual features as a measure of the complexity of a seafloor image. In order to achieve this, two approaches to assess scene complexity we investigated. The performance of the method was verified using seafloor imagery obtained in the Iheya North field in the Okinawa Trough. The results demonstrate that it is effective for a large range of feature sizes.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"14 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":"130541961","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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