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The Atmospheric Diving Suit (ADS) has a longstanding history of use to aid in subsea construction, salvage, repair, platform inspection, oil and gas operations, and scientific purposes such as examining shipwrecks. The emergence of Remotely Operated Vehicle (ROV) technology, and other unmanned underwater vehicles, have begun to supplement the ADS in certain applications. However, due to the complex...
In this paper, we propose a sonar image processing based underwater localization method. P-SURO II is a sort of hybrid AUV which can be operated in both of ROV and AUV modes [1]. For this vehicle, there is a 2D BlueView sonar mounted in front of the platform for obstacle detection. This sonar also can be used for underwater localization in certain specific environments. In [2], the authors proposed...
The capability of avoiding static obstacles independently is the premise for air cushion vehicle (ACV) operating safely. In this article, an ACV collision avoidance control based on improved artificial potential field method is designed as auxiliary operating system to ensure safe navigation of ACV. It builds mathematical model of the ACV and searches the data of static obstacles. Besides, the collision...
This paper focuses on the problem of seabed survey mission with multiple target points distributed in large scale area. To complete the survey with AUVs in minimum cost, a two-step procedure using greed strategy is presented. In the first step, the locations of so-called anchor points are found by executing k-means algorithm iteratively. In the second step, an ant-cycle system is used to find out...
Predicting the performance of an underwater acoustic network (UAN) is a challenging task due to the spatiotemporal variability of the links and its complicated dependence on multiple factors. We present a machine-learning model based on logistic regression (LogR) to capture the spatio-temporal variation in the performance of a UAN. The model captures the effect of environmental factors such as wind...
High false alarm rates on active sonar systems in shallow waters is a well known problem which may be a limiting factor for the sonar performance. One way to reduce the false alarm rate is through supervised learning and machine learning algorithms applying relevant classification features. Here we propose backscatter intensity as a classification feature. It is calculated from a topographical map...
Deep-sea hydraulic manipulator is an essential operation equipment for scientific investigation and resource exploitation. To improve the efficiency of hydraulic power source for manipulator in the presence of load variations, a pressure control variable displacement pump (PCVDP) is used to respond quickly to dynamic demands of multiple loads. Considering the variations of seawater properties at different...
The Mid-Atlantic Regional Association Coastal Ocean Observing System (MARACOOS) is one of the eleven Regional Associations (RAs) comprising the coastal network of the U.S. Integrated Ocean Observing System (US IOOS). MARACOOS involves participants from academia, government, the private sector, and non-profit entities, and covers the ocean and estuaries from Cape Cod, MA to Cape Hatteras, NC. The high...
Side scan sonar (SSS) is a vital sensor for autonomous underwater vehicles (AUVs) to do ocean survey. Many methods have been proposed to carry out SSS image segmentation, among which machine learning algorithms provide outstanding performance. Machine learning algorithms like support vector machine (SVM) and convolutional neural networks (CNN) are the most used. When SVM is used to do pixel-level...
Closest Point of Approach (CPA) calculations are fundamental calculations for determining the utility and safety of a candidate maneuver of a marine vessel with respect to another vessel, i.e., contact. In certain kinds of path planning, a set of CPA calculations is made for thousands of candidate maneuvers, perhaps several times per second. Furthermore, with multiple contacts, multiple sets need...
The surf-zone presents unique challenges and opportunities for observational oceanography. Physical and biogeochemical signals change quickly in and around breaking surface waves due to high magnitudes of momentum and mass transfer. Autonomous instruments can be challenging to deploy in this energetic zone. We are developing the Smartfin, a surfboard fin capable of measuring geolocated ocean chemistry...
Planning for oil spill response and other marine activities requires a keen understanding of the weather and other conditions that can be expected in a given area and in a given period of time. It also requires consideratios about how those conditions — wind, waves, visibility, sea ice, etc. — may challenge or preclude on-water operations. The response viability analysis methodology matches data from...
Recent studies on global climate change have identified the Arctic as the fastest warming region on Earth. Resulting trends of receding sea ice have led to more accessible Arctic waterways during summer months and an anticipated increase in maritime transport throughout the region. Prolonged access between North America and Europe via the Northeast Passage is of significant interest to the international...
This paper proposes a localization method for wireless sensor nodes that utilize tri-directional coils for near-field magnetic induction (MI) communications. Taking advantage of magnetic field measurements of the tri-directional coils, the proposed localization algorithm uses only two anchor nodes to locate a sensor node in the 3-D space. Assuming each anchor node sequentially transmits the communication...
Fish-as-a-Service (FaaS) is a business-to-business model offering monitoring services performed by a biomimetic fishlike drone. FaaS considers environmental, scientific, and business concerns when addressing marine monitoring, providing alternative methodology while preserving ocean resources. The key to FaaS is the ability to provide a low-cost, low-maintenance, high-endurance, agile sensor platform...
A common approach for developing robotic systems leverages separate simulation and control softwares. Although this approach requires minimal coordination and orchestration between softwares, the separation of simulation and control applications presents the designer with unnecessary challenges during development. This paper describes the Autonomous Robot Control and Simulation (ARCS) software, a...
The possibility of increasing flight duration, particularly for small and micro fixed-wing Unmanned Aerial Systems (UAS), is typically hindered by the payload and size of the platform. In maritime missions, Atmospheric Energy Harvesting (AEH) near the Marine Atmospheric Boundary Layer (MABL), is a low-cost solution, with very promising results, that may allow drastic increases in flight duration by...
We describe an approach with considerations for the limitations of operating underwater, including low bandwidth communications, for performing UUV collaborative missions. We implement a decentralized model predictive control (DMPC) algorithm to control teams of unmanned underwater vehicles (UUVs) that simultaneously optimizes vehicle control inputs to explicitly account for the limitations of operating...
St. George Island, part of the Pribilof Islands, is located in the Bering Sea, more than 320 kilometers (200 miles) north of the nearest Aleutian Island and equally distant to the mainland of Alaska. For nearly two centuries, St. George's primary economy was based on commercial fur seal harvesting. In the early 1980s when commercial fur seal harvesting halted, the community turned to a fishing economy...
For many existing inspection class ROV designs, a powered umbilical was the obvious choice as a means of providing system power. But advances in battery capability, coupled with the sheer diversity of applications and associated task requirements for which ROVs are now being targeted, has resulted in an interesting tradeoff between the capabilities of umbilical versus battery power. This paper will...
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