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The MORPH project (FP 7, 2012–2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure...
A multi-robot exploration algorithm is presented which is targeted at the exploration of 3D structures which predominantly extend along one orientation — the motivating example is underwater cliffs which are locally 3D but that are more globally seen to extend along a continuous vertical surface. The multi-robot exploration aims to maximise the sampling of the environment, causing much denser scans...
One fundamental problem in Simultaneous Localization and Mapping is place recognition, used to create loop closures, necessary to improve map quality. Ideally, the sensor data alone should be used to detect loop closures, referred to as appearance-based methods. Such methods usually employ feature descriptors, especially popular in underwater research are 2D visual features, and the bag-of-words approach...
A key to developing autonomous maritime systems for NATO is communication among data gathering platforms below and above the water. However, unlike the mature technologies that are used for terrestrial networks, underwater communications is still in an early stage. This paper provides an overview of CMRE's activities in the field of underwater communications where emphasis has been put in addressing...
The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The project will address underwater communication, acoustic distributed sensor array, mission planning...
Remotely Operated underwater Vehicles (ROVs) play an important role in a number of operations conducted in shallow and deep water (e.g.: exploration, survey, intervention, etc.), in several application fields like marine science, offshore construction, and underwater archeology. In this work we describe the preliminary steps in the development of the set-up of a special ROV addressed to perform the...
This paper presents a geometric approach to the problem of designing visual feedback control laws to steer a nonholonomic vehicle, equipped with a fixed monocular camera, through a gate. The originality of our approach is to introduce and exploit the natural geometry induced by the presence of a gate in the environment, e.g. bundle of hyperbolae, ellipses and circles, providing stabilizing feedback...
Autonomous mobile robots are required to operate in partially known and unstructured environments. It is imperative to guarantee safety of such systems for their successful deployment. Current state of the art does not fully exploit the sensor and dynamic capabilities of a robot. Also, given the non-holonomic systems with non-linear dynamic constraints, it becomes computationally infeasible to find...
Capabilities of mobile autonomous systems is often limited by the sensory constraints. Range sensors moving in a fixed pattern are commonly used as sensing modalities on mobile robots. The performance of these sensors can be augmented by actively controlling their configuration for minimizing the expected cost of the mission. The related information gain problem in NP hard. Current methodologies are...
Similar to the atmosphere, coherent structures, e.g., fronts, exist in the ocean. These frontal structures are known to be highly productive, supporting the whole spectrum of marine life. Ocean fronts are dynamic in time and space, and are a key component to a comprehensive knowledge of ocean dynamics and aquatic ecosystems in relation to climate change. However, dynamic features such as fronts are...
We present a novel, deeply embedded robotics middleware and programming environment. It uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications. We improve over the state of the art in deeply embedded open source systems by providing a modular and standards-oriented platform. Our system architecture is centered around a publish-subscribe...
This paper presents a generalised framework of an image based visual servoing of an articulated arm which has to be deployed inside a simulated Tokamak vessel environment. First wall tiles of the vessel idealised as rectangular grids on a surface are inspected and an attempt is made to replace the damaged tiles with a tile-screwing gripper mechanism. The mechanism of gripper provides compactness and...
Underwater mobile sensor networks such as Autonomous Underwater Vehicles (AUVs) or robots are envisioned to enable applications for oceanographic data collection, environmental and pollution monitoring, offshore exploration, and distributed tactical surveillance. These applications require running compute- and data-intensive algorithms that go beyond the capabilities of the individual AUVs that are...
Cyber-Physical Systems require the development of security models at cloud interacting with physical systems. The current research discusses the security requirements in the future engineering systems includes the state of security in cloud cyber-physical systems, and a security model in sensor networks in relation to cyber-physical systems. In addition, we develop a model to transfer the packets...
General vehicles have much potential to contribute to city surveillance in a context of Smart City. Vehicular crowd sensing is essential for reasonable and sustainable city surveillance. We propose route control method to enhance sensing coverage of crowd sensing system. The method is composed of sensing demand-aware cost assignment and a cooperative path reservation. We performed a traffic simulation...
In this paper, velocity estimation method for caster odometers is proposed. Caster odometer is a sensor of travel distance and attitude angle using caster mechanism that has two-degree of rotational freedoms. We calculate velocities of a vehicle utilizing the output measured by caster odometers, however, the caster mechanism has nonlinearity component. To deal with the nonlinearity of the caster mechanism,...
Accurate and robust environmental perception is a critical requirement to address unsolved issues in the context of outdoor navigation, including safe interaction with living beings, obstacle detection, cooperation with other vehicles, mapping, and situation awareness in general. Aim of this paper is the development of perception algorithms to enhance the automatic understanding of the environment...
Voice Operated Intelligent Fire Extinguishing Robotic Vehicle can be controlled by RF communication. This Project demonstrates the research and implementation of Voice Controlled Intelligent Fire Extinguishing Robotic Vehicle. The vehicle is controlled through User Voice Command. The voice input allows a user to interact with the robot which is familiar to most of the people. It can also sense the...
Manipulator arms on an unmanned tracked vehicle are widely used for handling different defence application in an undulated terrain condition. Therefore, it is important to design a suitable multipurpose mobile manipulator without compromise the maneuverability of the unmanned ground vehicle. The criticality in the manipulator design is dynamic effect of the manipulator system should not affect the...
Most of the people are using vehicles which have become the most important part in our life for comfort transportation. In existing system the main snags are cost as well as the first one are glaring effect accidents due to opposite vehicle headlight illumination at night time driving. Second one is the short circuit fault in automotive wiring. Third one is to perceive the gas leakage fire accidents...
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