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Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions. This paper presents a new design and development of a low-cost INS (Inertial Navigation System) using Miro-Electro-Mechanical-System (MEMS) inertial sensor and the pressure sensor (PS). The intensive pre-processing and modeling MEMES sensor's...
Based on monocular camera, an underwater detection and tracking system for amphibious spherical robot is proposed to realize autonomous cruise of underwater pipelines. Firstly, according to the imaging characteristics of underwater image, the image of pipeline is detected by image binarization, edge detection and Hough transform. And then, the Kalman filter was carried out according to the edge information...
Location system is crucial to many intelligent robots, especially for underwater robots. To increase the autonomous ability of amphibious spherical robots in underwater environment, an underwater vision locating system was designed in this paper, and the ToF (time of fly) camera (RGB-D camera) was used and introduced in this system. Through the image capture from the camera in water, two kinds of...
To execute vision-based tasks of the amphibious spherical robot, a visual tracking system was designed and constructed. A RGB-D camera was calibrated in the amphibious environments and was then used to perceive the surroundings of the robot. A RGB-D tracker, which was capable of handling occlusions and scale changes of the target, was built upon the KCF tracker to locate the target object. HoG and...
The motion control of underwater spherical robot is a complicated process, which has the characteristics of high inertia and non-linearity. There are many influencing factors for the underwater spherical robot motion such as ambient temperature and water current, so it is difficult to obtain the real-time kinematic model. Therefore, it is hard for traditional PID to achieve stable motion control of...
Aiming at exploration tasks in complex amphibious environments, quadruped gaits were designed, implemented and evaluated for our amphibious spherical robot to enhance its adaptabilities to various terrains. A simplified locomotion model of the robot was established to analyze the walking process. Then three types of walk gait were implemented on the robotic platform using FPGA, which provided different...
As a critical important function for autonomous mobile robots, visual tracking is a challenge work in the field of computer vision, for the reason that factors like illumination variance, partial occlusions and target appearance changes shall be carefully considered. Focus on applications of our amphibious spherical robots, an adaptive visual tracking algorithm was proposed on the basis of compressive...
Developing efficient movement gaits for quadruped robots has intrigued investigators for years. Trot gait, pace gait, as fast and stable dynamic locomotion gaits, have been widely used in robot control. Therefore, the purpose of this paper is to control an amphibious spherical quadruped robot to achieve these two gaits. Firstly, this paper references the trot gait and pace gait pattern of quadruped...
Information exchanges and cooperative movements of multiple robots have become a hot topic in robotics. To increase the adaptability of robots in amphibious scenarios, an improved amphibious spherical robot was designed in this paper. However, the ability of single robot was limited. To further increase the sensing range and work efficiency of own amphibious spherical robots, a Leader-follower method,...
As one of the most effective tools for exploring the ocean, automatic underwater vehicles have attracted a lot of attentions for years. But some key problems have not been solved properly. It is especially difficult to design underwater vehicles in small size. In this paper, three inertial sensors were adopted to fabricate an attitude estimation system, which provided posture information for our amphibious...
A moving target detection and tracking system is critical important for autonomous mobile robot to accomplish complicated tasks. Aiming at application requirements of our amphibious spherical robot proposed in previous researches, a low-power and portable moving target detection system was designed and implemented in this paper. Xilinx Zynq-7000 SoC (System on Chip) was used to fabricate the image...
Electroencephalography (EEG) is the recording of electrical activities generated by nerve cells in the cerebral cortex. As the only non-invasive method for measuring brain activities from human scalp, it has been widely used in the area of medical diagnosis, neuroscience research, commercial application, etc. Most of the existing EEG acquisition systems, which are usually comprised of analog switches,...
It has long been recognized that the employment of underwater robots have important practical significance, which includes pipe survey, oceanic search, under-ice exploration, mine reconnaissance, dam inspection, ocean survey and so on. Owing to the limitation of underwater environment, some regular sized robots are not suitable for limited spaces. Thus some micro-robots appeared, while sacrificed...
Considering the complicated disturbance in amphibious circumstance, usually it is difficult to solve the control problem for a complex system of an amphibious robot. This paper proposes a neutral network PID controller which has a great advantage on processing online for an amphibious spherical robot due to their nonlinear dynamics. We overcome the difficulties by combining the neutral network method...
As the competition and exploration on marine is going more intense, intelligent underwater robots or autonomous underwater vehicles have become important tools to accomplish tasks such as ocean geologic survey, mineral exploration, victims rescue, military reconnaissance, etc. The mechanical structure and electronic control module design, which have long been research hotspots in this field, are in...
In past few years, various underwater microrobots have been developed with the micromachining technology, development of smart actuators and biomimetic applications. Most of them possess the attributes of flexibility and compact structure. However, their endurances, moving speeds, and load capacities for power supplies and sensors are limited for the small sizes. So, these microrobots are not suitable...
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