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The 2015 Gold King Mine spill exposed the Animas River (located in Durango, Colorado) to over 3 million gallons of toxic water with spiked levels of arsenic and lead among other metals. In response to public concern for the quality of the river's water, a water quality monitoring system has been developed and deployed. Multiple organizations, both local and federal, have joined forces to understand...
Effective and efficient management of water resources is becoming unprecedentedly more important nowadays due to the increasing demand from a growing population, increasing standards of living and changing supply due to climate change. Water monitoring technology has directly contributed to the effectiveness of water resource management. Traditional water measurement method, mostly done in laboratory,...
Monitoring technique using UAV(Unmanned Air Vehicle) means a technique of monitoring by mounting camera on UAV in case of having to monitor at an altitude where it is unable to shoot objects with general ground photographing equipment. Monitoring method by using UAV has an advantage of accessibility and speed compared with vehicle and monitoring of diversified compositions is possible. In addition,...
We consider a scenario where the aim of a group of agents is to perform the optimal coverage of a region according to a sensory function. In particular, centroidal Voronoi partitions have to be computed. The difficulty of the task is that the sensory function is unknown and has to be reconstructed on line from noisy measurements. Hence, estimation and coverage needs to be performed at the same time...
The Glider Operations Center (GOC) at the Naval Oceanographic Office (NAVOCEANO) is responsible for operating a fleet of autonomous unmanned systems, including ocean gliders, in the collection of physical oceanography data. The data collected include ocean temperature, salinity, and optical properties, which are profiled at depth and used by ocean modelers to forecast future environmental ocean conditions...
Underwater Acoustic Sensor Networks (UASNs) can be used to monitor long underwater pipeline structures for oil, gas, and water. In this case, a special type of UASNs, UASN-P (UASN for long pipelines) is used. One of the main challenges of using UASN-P is the reliability of the connections among the nodes. Faults in a few contiguous nodes may cause the creation of holes which will result in dividing...
Unmanned vehicles are emerging as an attractive tool for persistent monitoring tasks of a given area, but need automated planning capabilities for effective unattended deployment. Such an automated planner needs to generate collision-free coverage paths by steering waypoints to locations that both minimize the path length and maximize the amount of information gathered along the path. The approach...
In recent years wireless sensor networks are widely used in many automated system like vehicle monitoring, heavy duty plants, robotic control etc. one of the best automated systems is the smart irrigation system. In this paper we have proposed a simple and cost effective smart irrigation system. Our system deploys wireless sensor motes from a wireless sensor network. The system is modelled in outdoor...
Finding a parking place in a busy city centre is often a frustrating task for many drivers; time and fuel are wasted in the quest for a vacant spot and traffic in the area increases due to the slow moving vehicles circling around. In this paper, we present the results of a survey on the needs of drivers from parking infrastructures from a smart services perspective. As smart parking systems are becoming...
This paper is following the development of the PhD research of Optimizing Real-Time Applications for Marine Operations Using Modern Modelling and Simulation Methods and presents the major challenges in designing simulation scenarios for offshore exploration constructions models and furthermore, some sensor deployment methods using remote operated vehicles (ROV).
A framework for generating coverage paths for marine habitat mapping is proposed in this paper. The framework combines two existing coverage path planning algorithms with new ideas to provide automated, efficient survey paths that take into account the particularities of the application. On one hand, a recent algorithm especially targeted for marine environments is used to generate a survey path of...
This paper describes the proposed humanoid robot teleoperation system capable of task learning through teleoperation. The system is based on the task rule extraction from the data acquired by monitoring a human operator during the teleoperation process. The basic information about teleoperation systems, history, applications and current trends are provided in the first part of the paper. The second...
Monitoring in large scale environments is a typical mission in cooperative robotics. This task requires the exploration of a huge domain by a generally small number of sensor equipped mobile robots. As time restrictions prohibit an exhaustive global search, a sampling strategy is required that allows an efficient spatial mapping of the environment. This paper proposes an adaptive sampling strategy...
In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a hierarchical structure to autonomously collect...
This paper presents a mission control approach and an on-board fault recovery to enable an autonomous underwater vehicle (AUV) to carry out the oceanographic survey autonomously. The challenges of AUV's operability in clutter environment have led the researchers to develop intelligent control architectures composed of distributed, independent and asynchronous behaviors, so the multi-agent system is...
One of the main hypotheses supporting the development of cooperative unmanned systems is that the deployment of mobile assets (sensors, weapons) in groups is expected to result in a more effective mission than if conducted with a single asset. Few researches have tackled the design of autonomous decision making for teaming UxVs (unmanned air and ground vehicles) operating under degraded conditions,...
This work considers the re-design of an autonomous underwater vehicle (AUV) in which an innovative, neurobiological inspired sensorization control system is being implemented. Hardware architecture and sensorization control software are being developed to allow autonomous navigation procedures for submarine vehicles. After the refurbishment of the vehicle and the update of its control system, the...
The cluster space state representation for multirobot systems provides a simple means of specifying and monitoring the geometry and motion characteristics of a cluster of mobile robots. In previous work, this approach has been experimentally verified and validated for controlling the motion of planar mobile multi-robot systems ranging from land rovers to autonomous boats. In this paper we present...
Major programs such as the Ocean Observatories Initiative (OOI) seek to increase societal understanding of subsurface marine environments. This interest has arisen because of environmental concerns related to degradation of marine habitats, climate change, as well as the globally increasing demand for marine natural resources, particularly food and energy. These pressures now affect marine systems...
In this paper we report our research on the development of an open web-based architecture for controlling the behavior of systems composed of static sensors, mobile sensors and unmanned vehicles. We document the first implementation of the architecture and describe its application to our vehicles and sensors. We discuss the validation of this implementation in real-world deployments where one or more...
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