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This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes...
Fish-like propulsion is a challenging alternative to propellers in small underwater vehicles. This paper presents the analysis, the design stages, the development and the experimental evaluation of a small low-cost teleoperated underwater robotic fish, driven by an oscillating foil. The main principles for the development of efficient thrust by oscillating foils are presented, and implemented. Essential...
This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS)...
This paper addresses the navigational control and execution of motion estimation in the intelligent AUV system using color Petri nets simulation. This process is on the bases of the real-time network cycle and pre-planned directions as well as real-time data collection to estimate, decide and control various commands within underwater landmarks and waypoints. The other feature of this approach is...
We present a technique for the integration of data from a ship based multibeam along with multibeam and stereo images gathered from an AUV. The novelty of the proposed technique is the ability to integrate data-sets at different resolutions to produce one consistent model that captures not only high resolution images of the seafloor but sweeping geological features that span kilometers.
The REMO I is a remotely teleoperated underwater vehicle developed for measuring and observing maritime environments as its mandatory task. This robot has been built based on a parallel structure (Stewart-Gough platform), with the capability of changing its geometry in order to facilitate the navigation within complex maneuvers. In addition, both orientation and propulsion systems can change in order...
The use of unmanned vehicles in the field of underwater and marine applications is increasing significantly in recent years. Autonomous vehicles (like AUVs and gliders) or teleoperated ones (like ROVs) are currently employed for executing a number of different underwater tasks, like inspecting submerged pipes, executing maintenance interventions on underwater gas- or oil-platforms, collecting environmental...
Legged autonomous vehicles move by executing patterns of leg-joint angles known as gaits. Synthesizing gaits by hand is a complex and time-consuming task which becomes even more challenging when the vehicle operates underwater. When operating underwater any motion of the limbs applies forces to the vehicle. Underwater gaits must therefore be constructed to mitigate these unwanted forces while meeting...
The present work shows an ongoing project named RAUVI (i.e. Reconfigurable AUV for Intervention). This project aims to design and develop an underwater autonomous robot, able to perceive the environment by means of acoustic and optic sensors, and equipped with a robotic arm in order to autonomously perform simple intervention tasks. A complete simulation environment, including this new concept of...
An autonomous underwater vehicle (AUV) is developed to explore and patrol in underwater environments. To accomplish these objectives, an autonomous navigation and control system is essential to an AUV. An intelligent navigation system produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path. In this paper, we propose an...
Unmanned Underwater Vehicles have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in control, navigation and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive....
Collective behavior differs essentially from aggregate individual behavior. Multiple agents acting collectively are capable of performing certain behaviors that cannot be reduced to the behaviors of multiple agents acting individually. When multiple agents perform behaviors, they can be acting collectively and so be characterized as one entity. Ant colonies are generally thought to behave as a single...
Swarms of robots in heterogeneous environments working together in a System of Systems, raise the need for suitable inter-swarm communication. This paper presents a potentially viable solution. Communication for land swarms was found to be successful through ZigBee Radio Modems, and a suitable counterpart is necessary for underwater swarms in a system of systems. An extensible standards based protocol...
Modern technology has provided robots that can be used for Search and rescue purposes where rescuers have difficulty to locate victims. This is due to problems such as visibility and different environmental conditions. The autonomous mobile ability of robot vehicles makes them ideal platforms for search and rescue purposes. Improvements in communication, navigation and sensory systems provide for...
The "solution" of the simultaneous localisation and mapping (SLAM) problem has been one of the notable successes of the robotics community. SLAM has been formulated and solved as a theoretical problem in a number of different forms. SLAM has also been implemented in a number of different domains from indoor robots to outdoor, underwater, and airborne systems. At a theoretical and conceptual...
Underwater vehicle control research is presently limited by the availability of explicit experimentally validated plant models. We report an experimentally identified 3 degrees of freedom (DOF) coupled non-linear finite-dimensional plant model for the Johns Hopkins remotely operated vehicle (JHUROV) for the forward, lateral, and heading degrees of freedom. We report the parameter estimation methodologies...
Underwater operations present unique challenges and opportunities for robotic applications. These can be attributed in part to limited sensing capabilities, and to locomotion behaviours requiring control schemes adapted to specific tasks or changes in the environment. From enhancing teleoperation procedures, to providing high-level instruction, all the way to fully autonomous operations, enabling...
Building on the assumption that identification of a sufficient number of isoclines of an environmental field (such as the ocean bottom terrain) allows efficient reconstruction of the field, in this paper, a sequel to [1], we describe a system where a group of robots in a spacial arrangement (a regular polygon centred around a lead robot) locally construct the field (measured at the locations of the...
The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine biology, chemistry and geology associated...
With the development and research deeply on the ocean, underwater mating technique has received wide application such as exploration of ocean bed, scientific review, sunk ship salvage, underwater manufactory, deep ocean workstation, aid submarine lifesaving and military affairs field. In this paper, through researching on mating device at home and abroad, by using rotational skirt scheme, mating device...
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