Pub Date : 2018-12-06DOI: 10.1109/OCEANSKOBE.2018.8559261
R. Song, Yuanchang Liu, Jose Balbuena, F. Cuéllar, R. Bucknall
This paper describes a novel multi-task allocation method for the autonomous navigation to improve the efficiency for executing mission considering an Unmanned Surface Vehicle (USV) developed by the Pontificia Universidad Catolica del Peru (PUCP). The new method is developed based upon the self-organizing map (SOM) algorithm, with the consideration of the priorities of the sample stations that USV need to visit, as well as the lattice distances from the sample stations to the start point. Using this new method, an optimized order of visiting sequence can be calculated according to the battery energy limit of the USV. The new multi-task allocation method has been verified in simulation environments with results proving the effectiveness and capabilities of the system.
针对秘鲁天主教大学(Pontificia university of Catolica del Peru, PUCP)研制的无人水面航行器(USV)，提出了一种新的自主导航多任务分配方法，以提高任务执行效率。该方法基于自组织映射(SOM)算法，考虑了USV需要访问的采样站的优先级，以及采样站到起始点的格点距离。利用该方法，可以根据无人潜航器的电池能量极限计算出最优的访问顺序。在仿真环境中对这种多任务分配方法进行了验证，验证了系统的有效性和性能。
{"title":"Developing an Energy Effective Autonomous USV for Undertaking Missions at the Highlands of Peru","authors":"R. Song, Yuanchang Liu, Jose Balbuena, F. Cuéllar, R. Bucknall","doi":"10.1109/OCEANSKOBE.2018.8559261","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559261","url":null,"abstract":"This paper describes a novel multi-task allocation method for the autonomous navigation to improve the efficiency for executing mission considering an Unmanned Surface Vehicle (USV) developed by the Pontificia Universidad Catolica del Peru (PUCP). The new method is developed based upon the self-organizing map (SOM) algorithm, with the consideration of the priorities of the sample stations that USV need to visit, as well as the lattice distances from the sample stations to the start point. Using this new method, an optimized order of visiting sequence can be calculated according to the battery energy limit of the USV. The new multi-task allocation method has been verified in simulation environments with results proving the effectiveness and capabilities of the system.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125688299","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559297
Daiki Yamada, Naoki Mukada, Myo Myint, K. Lwin, T. Matsuno, M. Minami
Recharging ability with underwater docking function would be a first primal step conducted to enable the AUV to operate independently of a surface vessel for extended periods. Therefore, the role of docking operation came in picture not only for battery recharging application but also other novel applications such as sleeping under mother ship, or new mission up and down loading. Moreover, docking capacity can be extended to provide navigation for other underwater vehicles on the way of their mission too. However, there are many challenging issues in achieving these applications that request high accuracy and robustness against disturbances that are provided by the underwater environment. The most challenging and unavoidable problems in sensing sphere for sea operations are, we think, turbidity and light changing. Turbidity is defined as cloudiness in a liquid caused by the presence of suspended particles that scatter and absorb light. Since underwater battery recharging are supposed as a first step to realize a full autonomous/intelligent robot, the deep-sea docking experiments cannot avoid turbidity and low light environment. In previous studies, we had conducted sea docking experiments using a passive (not lighting) marker and image-evaluation function based on only hue information, limiting its operational environment in lower turbid sea with sunshine. Whereas in this study, to improve our system removing above defects, we newly designed an active - light emitting - 3D marker and a fitness function determined by HSV color components to improve the performance of the system especially in a more turbid environment. The advantage of using an active 3D marker and HSV-evaluated function is to be thought as being tolerable and seeable despite clipped whites and scattered light on the camera images caused by turbidity. Additionally, we conducted the docking experiments to verify the robustness of the proposed approach against turbidity and compared recognition results between the previous method and the improved method.
{"title":"Docking Experiment in Dark Environments Using Active/Lighting Marker and HSV Correlation","authors":"Daiki Yamada, Naoki Mukada, Myo Myint, K. Lwin, T. Matsuno, M. Minami","doi":"10.1109/OCEANSKOBE.2018.8559297","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559297","url":null,"abstract":"Recharging ability with underwater docking function would be a first primal step conducted to enable the AUV to operate independently of a surface vessel for extended periods. Therefore, the role of docking operation came in picture not only for battery recharging application but also other novel applications such as sleeping under mother ship, or new mission up and down loading. Moreover, docking capacity can be extended to provide navigation for other underwater vehicles on the way of their mission too. However, there are many challenging issues in achieving these applications that request high accuracy and robustness against disturbances that are provided by the underwater environment. The most challenging and unavoidable problems in sensing sphere for sea operations are, we think, turbidity and light changing. Turbidity is defined as cloudiness in a liquid caused by the presence of suspended particles that scatter and absorb light. Since underwater battery recharging are supposed as a first step to realize a full autonomous/intelligent robot, the deep-sea docking experiments cannot avoid turbidity and low light environment. In previous studies, we had conducted sea docking experiments using a passive (not lighting) marker and image-evaluation function based on only hue information, limiting its operational environment in lower turbid sea with sunshine. Whereas in this study, to improve our system removing above defects, we newly designed an active - light emitting - 3D marker and a fitness function determined by HSV color components to improve the performance of the system especially in a more turbid environment. The advantage of using an active 3D marker and HSV-evaluated function is to be thought as being tolerable and seeable despite clipped whites and scattered light on the camera images caused by turbidity. Additionally, we conducted the docking experiments to verify the robustness of the proposed approach against turbidity and compared recognition results between the previous method and the improved method.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123634264","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559144
Zhigang Jin, Z. Ji, Yishan Su, Shuo Li, Boyao Wei
The past few years have witnessed a significant progress in the research of underwater acoustic sensor networks. However, most studies on network deployment can only achieve excellent coverage with isolated connectivity or excellent connectivity with coverage holes in the monitoring area. Both coverage and connectivity are important to guarantee the quality of monitoring in Underwater Acoustic Sensor Networks (UASNs). To achieve the joint optimization of network coverage and connectivity, we proposed a deployment optimization mechanism using depth adjustable nodes in UASNs. The sink nodes are evenly distributed on the water surface and act as cluster heads. The sensor nodes in a cluster are adjusted vertically to form the topology with the sink node as the root node so that all nodes in the network are connected. Network deployment is optimized by finding the optimal location of node, with the network topology remains the same as a constraint. Simulation results show that our proposed deployment mechanism can achieve higher coverage with all nodes connected.
{"title":"A Deployment Optimization Mechanism Using Depth Adjustable Nodes in Underwater Acoustic Sensor Networks","authors":"Zhigang Jin, Z. Ji, Yishan Su, Shuo Li, Boyao Wei","doi":"10.1109/OCEANSKOBE.2018.8559144","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559144","url":null,"abstract":"The past few years have witnessed a significant progress in the research of underwater acoustic sensor networks. However, most studies on network deployment can only achieve excellent coverage with isolated connectivity or excellent connectivity with coverage holes in the monitoring area. Both coverage and connectivity are important to guarantee the quality of monitoring in Underwater Acoustic Sensor Networks (UASNs). To achieve the joint optimization of network coverage and connectivity, we proposed a deployment optimization mechanism using depth adjustable nodes in UASNs. The sink nodes are evenly distributed on the water surface and act as cluster heads. The sensor nodes in a cluster are adjusted vertically to form the topology with the sink node as the root node so that all nodes in the network are connected. Network deployment is optimized by finding the optimal location of node, with the network topology remains the same as a constraint. Simulation results show that our proposed deployment mechanism can achieve higher coverage with all nodes connected.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"401 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123200069","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559402
L. Li, Yan Gao, Zhiming Yuan
A real-time latching controller with consideration of wave force prediction is developed and applied to a heaving point-absorber to maximize its energy absorption. The control scheme is based on the combination of optimal command theory and first order-one variable grey model GM(1,1). By forecasting the wave forces in the near future, the control action at the next instant is deduced. Simulation results show that the energy absorption is increased due to the real-time controller. Therefore, the developed real-time controller is applicable to an industrial wave energy converter (WEC) in random waves. The effect of wave force prediction deviation is also examined. It is shown that the control efficiency is reduced in the presence of prediction deviation.
{"title":"Real-Time Latching Control of Wave Energy Converter with Consideration of Wave Force Prediction","authors":"L. Li, Yan Gao, Zhiming Yuan","doi":"10.1109/OCEANSKOBE.2018.8559402","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559402","url":null,"abstract":"A real-time latching controller with consideration of wave force prediction is developed and applied to a heaving point-absorber to maximize its energy absorption. The control scheme is based on the combination of optimal command theory and first order-one variable grey model GM(1,1). By forecasting the wave forces in the near future, the control action at the next instant is deduced. Simulation results show that the energy absorption is increased due to the real-time controller. Therefore, the developed real-time controller is applicable to an industrial wave energy converter (WEC) in random waves. The effect of wave force prediction deviation is also examined. It is shown that the control efficiency is reduced in the presence of prediction deviation.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123814752","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559115
Zhigang Jin, T. Wu, Yishan Su, Shuo Li, Boyao Wei
Time synchronization of underwater acoustic sensor networks is an important prerequisite for the normal operation of multiple access transmission. However, the separated research of the two can easily lead to repeated sending of control packets, resulting in the waste of time and energy resources. Therefore, we propose time synchronization with multiple-access data transmission protocol (TSMP) in underwater sensor networks. In this protocol, time synchronization and multiple-access data transmission are combined to form an effective underwater data transmission system, reducing exchanged message and saving time and energy. In addition, there are no reference nodes as standard time. We are pursuing local time synchronization that only nodes that communicate with each other are synchronized. The time synchronization of TSMP is based on the Doppler method to calculate the relative speed between nodes. Considering the effect of the relative movement between nodes on the propagation delay, the accuracy of transmission delay is improved. Then, the receiver adds the local time to the value of total transmission delay. This allows the receiver and the sender to synchronize. Simulation results show TSMP has a better performance in terms of the packet delivery fraction, synchronization errors and energy efficiency.
{"title":"Time Synchronization with Multiple-Access Data Transmission Protocol in Underwater Sensor Networks","authors":"Zhigang Jin, T. Wu, Yishan Su, Shuo Li, Boyao Wei","doi":"10.1109/OCEANSKOBE.2018.8559115","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559115","url":null,"abstract":"Time synchronization of underwater acoustic sensor networks is an important prerequisite for the normal operation of multiple access transmission. However, the separated research of the two can easily lead to repeated sending of control packets, resulting in the waste of time and energy resources. Therefore, we propose time synchronization with multiple-access data transmission protocol (TSMP) in underwater sensor networks. In this protocol, time synchronization and multiple-access data transmission are combined to form an effective underwater data transmission system, reducing exchanged message and saving time and energy. In addition, there are no reference nodes as standard time. We are pursuing local time synchronization that only nodes that communicate with each other are synchronized. The time synchronization of TSMP is based on the Doppler method to calculate the relative speed between nodes. Considering the effect of the relative movement between nodes on the propagation delay, the accuracy of transmission delay is improved. Then, the receiver adds the local time to the value of total transmission delay. This allows the receiver and the sender to synchronize. Simulation results show TSMP has a better performance in terms of the packet delivery fraction, synchronization errors and energy efficiency.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116971422","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559286
Yu Ru Chen, L. Z. Chuang, Y. Chung
High-frequency surface wave radar is suitable for large-area detection of vessels. This study develops an automated identification procedure to improve an artificial technique for finding the local peak in Doppler spectra. For obtaining vessel information, an image processing method, namely the watershed segmentation, is integrated into the adaptive signal identification (ASI) algorithm, which has been developed by our research group, for rapid division of several local regions of spectra to extract ship returns. A comparison with automatic identification system (AIS) data proves the feasibility of the proposed method for automatically detecting vessel echoes.
{"title":"Automated Peak Detection in Doppler Spectra of HF Surface Wave Radar","authors":"Yu Ru Chen, L. Z. Chuang, Y. Chung","doi":"10.1109/OCEANSKOBE.2018.8559286","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559286","url":null,"abstract":"High-frequency surface wave radar is suitable for large-area detection of vessels. This study develops an automated identification procedure to improve an artificial technique for finding the local peak in Doppler spectra. For obtaining vessel information, an image processing method, namely the watershed segmentation, is integrated into the adaptive signal identification (ASI) algorithm, which has been developed by our research group, for rapid division of several local regions of spectra to extract ship returns. A comparison with automatic identification system (AIS) data proves the feasibility of the proposed method for automatically detecting vessel echoes.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115273765","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559228
H. Roarty, A. Allen, S. Glenn, J. Kohut, L. Nazzaro, E. Fredj
The Mid Atlantic Ocean Observing System (MARACOOS) conducted a validation experiment of its High Frequency radar network from May 10 to July 12, 2016. The goal of the experiment was to evaluate its two surface current products, test quality control software and algorithms and evaluate new bistatic data streams. The experiment was conducted in collaboration with the United States Coast Guard Office of Search and Rescue and RPS an environmental consulting company. The Coast Guard provided 9 drifters that were deployed in the coverage area of the radar network. Six were deployed south of Martha's Vineyard and 3 were deployed off New Jersey, which focused on the validation of the 13 MHz network. The position data from the drifters was used to generate surface drift velocity estimates. These velocity estimates were compared against the radial velocity measurements of the radars. The actual path of the drifters over 48 hours was compared against virtual paths generated using the radar currents and other surface current estimates. The Lagrangian skill score was computed for several different surface current products. The regional surface current product from MARACOOS proved to be the best at predicting the path of the drifters.
{"title":"Evaluation of Environmental Data for Search and Rescue II","authors":"H. Roarty, A. Allen, S. Glenn, J. Kohut, L. Nazzaro, E. Fredj","doi":"10.1109/OCEANSKOBE.2018.8559228","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559228","url":null,"abstract":"The Mid Atlantic Ocean Observing System (MARACOOS) conducted a validation experiment of its High Frequency radar network from May 10 to July 12, 2016. The goal of the experiment was to evaluate its two surface current products, test quality control software and algorithms and evaluate new bistatic data streams. The experiment was conducted in collaboration with the United States Coast Guard Office of Search and Rescue and RPS an environmental consulting company. The Coast Guard provided 9 drifters that were deployed in the coverage area of the radar network. Six were deployed south of Martha's Vineyard and 3 were deployed off New Jersey, which focused on the validation of the 13 MHz network. The position data from the drifters was used to generate surface drift velocity estimates. These velocity estimates were compared against the radial velocity measurements of the radars. The actual path of the drifters over 48 hours was compared against virtual paths generated using the radar currents and other surface current estimates. The Lagrangian skill score was computed for several different surface current products. The regional surface current product from MARACOOS proved to be the best at predicting the path of the drifters.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116931216","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8558793
Y. Chung, L. Z. Chuang, Yu Ru Chen, Y. Yang, I. Tsui
High frequency (HF) radar can overcome the limits caused by the curvature of the earth when its electromagnetic wave operated over high conductivity sea water. The HF radar spectrum is critical for large-area current mapping because of mechanism of Bragg resonance. Taiwan is located in an equatorial ionization anomaly area, in which the ionosphere causes strong interference on HF radar bands that may limit system performance. The unwanted radar echoes, called ionospheric clutter, are of various types with time-variable and range-specific properties, which require different suppression techniques. Additionally, these radar echoes could yield ionospheric information as a by-product of an HF radar system function. It is therefore critical to understand the regional characteristics of these ionospheric clutter phenomena. In this study, we first identify the ionospheric clutter boundaries for the Doppler spectrum range. Then, the distribution pattern of the spectra for identified areas was analyzed to determine the characteristics of ionospheric clutter and the extent to which the ionospheric clutter affects the system. The identified echoes at these ranges are presumed mainly to come from the E-layer, which may influence the system performance in those areas. The results show there exist a similarity of distribution in spectral density and DOAs which ionospheric clutter occurs. Hence, through aforementioned analysis can help distinguish the regions in which ionospheric clutter occurs and provide an opportunity for noise suppression strategies.
{"title":"Characteristic Investigation of Ionospheric Clutter of a Coastal High-Frequency Radar","authors":"Y. Chung, L. Z. Chuang, Yu Ru Chen, Y. Yang, I. Tsui","doi":"10.1109/OCEANSKOBE.2018.8558793","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558793","url":null,"abstract":"High frequency (HF) radar can overcome the limits caused by the curvature of the earth when its electromagnetic wave operated over high conductivity sea water. The HF radar spectrum is critical for large-area current mapping because of mechanism of Bragg resonance. Taiwan is located in an equatorial ionization anomaly area, in which the ionosphere causes strong interference on HF radar bands that may limit system performance. The unwanted radar echoes, called ionospheric clutter, are of various types with time-variable and range-specific properties, which require different suppression techniques. Additionally, these radar echoes could yield ionospheric information as a by-product of an HF radar system function. It is therefore critical to understand the regional characteristics of these ionospheric clutter phenomena. In this study, we first identify the ionospheric clutter boundaries for the Doppler spectrum range. Then, the distribution pattern of the spectra for identified areas was analyzed to determine the characteristics of ionospheric clutter and the extent to which the ionospheric clutter affects the system. The identified echoes at these ranges are presumed mainly to come from the E-layer, which may influence the system performance in those areas. The results show there exist a similarity of distribution in spectral density and DOAs which ionospheric clutter occurs. Hence, through aforementioned analysis can help distinguish the regions in which ionospheric clutter occurs and provide an opportunity for noise suppression strategies.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126699020","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 : 2018-12-04DOI: 10.1109/OCEANSKOBE.2018.8559070
Yoshiki Kanda, Naoki Mukada, Daiki Yamada, K. Lwin, Myo Myint, Kohei Yamashita, Sho Nakamura, T. Matsuno, M. Minami
To extend the persistence time of an underwater operation of AUVs in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. Therefore, we developed the visual-servoing-based underwater vehicle using 3D perception based move on sensing (3D-MoS) system with dual-eye cameras and 3D marker for the docking operation. The vision-based underwater vehicle cannot avoid the turbidity and low illumination in the deep sea. In the present study, the active/lighting marker was newly designed and constructed to improve the recognizing ability of the proposed system for the real-time 3D pose estimation. The experiments were conducted in a simulated pool against different turbidity levels and illumination variations by adjusting the LED's brightness of the active marker in both day and night environments. This paper presents the analyses on the relations of the currents of LED installed inside each ball of the 3D marker and recognition results under turbidity and changing illumination conditions. According to the experimental results, the optimum current was chosen for the docking.
{"title":"Development and Evaluation of Active/Lighting Marker in Turbidity and Illumination Variation Environments","authors":"Yoshiki Kanda, Naoki Mukada, Daiki Yamada, K. Lwin, Myo Myint, Kohei Yamashita, Sho Nakamura, T. Matsuno, M. Minami","doi":"10.1109/OCEANSKOBE.2018.8559070","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559070","url":null,"abstract":"To extend the persistence time of an underwater operation of AUVs in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. Therefore, we developed the visual-servoing-based underwater vehicle using 3D perception based move on sensing (3D-MoS) system with dual-eye cameras and 3D marker for the docking operation. The vision-based underwater vehicle cannot avoid the turbidity and low illumination in the deep sea. In the present study, the active/lighting marker was newly designed and constructed to improve the recognizing ability of the proposed system for the real-time 3D pose estimation. The experiments were conducted in a simulated pool against different turbidity levels and illumination variations by adjusting the LED's brightness of the active marker in both day and night environments. This paper presents the analyses on the relations of the currents of LED installed inside each ball of the 3D marker and recognition results under turbidity and changing illumination conditions. According to the experimental results, the optimum current was chosen for the docking.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131197787","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 : 2018-09-30DOI: 10.1109/OCEANSKOBE.2018.8559352
Wenwen Liu, Yuanchang Liu, R. Song, R. Bucknall
This paper describes the design and implementation of a practical multi-sensor data fusion system for unmanned surface vehicle (USV) navigation. The system employs an embedded Linux board as the main on-board control module to extract and preprocess raw measurements from various navigational sensors using the real time operating system (RTOS). An unscented Kalman Filter (UKF) based data fusion algorithm has been developed to fuse the obtained and preprocessed sensor measurements and provide more reliable and accurate estimations of USV's navigational data in real time. The results demonstrate the effectiveness of the data fusion algorithm in reducing unpredicted errors of a standalone sensor.
{"title":"The Design of an Embedded Multi-Sensor Data Fusion System for Unmanned Surface Vehicle Navigation Based on Real Time Operating System","authors":"Wenwen Liu, Yuanchang Liu, R. Song, R. Bucknall","doi":"10.1109/OCEANSKOBE.2018.8559352","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559352","url":null,"abstract":"This paper describes the design and implementation of a practical multi-sensor data fusion system for unmanned surface vehicle (USV) navigation. The system employs an embedded Linux board as the main on-board control module to extract and preprocess raw measurements from various navigational sensors using the real time operating system (RTOS). An unscented Kalman Filter (UKF) based data fusion algorithm has been developed to fuse the obtained and preprocessed sensor measurements and provide more reliable and accurate estimations of USV's navigational data in real time. The results demonstrate the effectiveness of the data fusion algorithm in reducing unpredicted errors of a standalone sensor.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122978832","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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