- 标题
- 摘要
- 关键词
- 实验方案
- 产品
-
[IEEE 2019 PhotonIcs & Electromagnetics Research Symposium - Spring (PIERS-Spring) - Rome, Italy (2019.6.17-2019.6.20)] 2019 PhotonIcs & Electromagnetics Research Symposium - Spring (PIERS-Spring) - System Level Analysis of Millimetre-wave GaN-based MIMO Radar for Detection of Micro Unmanned Aerial Vehicles
摘要： A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, diagnose simultaneous faults, and it is easily implemented.
关键词： fault tolerance,Fault diagnosis (FD),switch-mode hidden Markov model (HMM),particle filter (PF),remotely operated underwater vehicle (ROV),underwater navigation
更新于2025-09-23 15:21:01
-
[IEEE 2019 Photonics North (PN) - Quebec City, QC, Canada (2019.5.21-2019.5.23)] 2019 Photonics North (PN) - Continuous-wave Nd:YVO <sub/>4</sub> laser with conical refraction output
摘要： A particle ?lter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, diagnose simultaneous faults, and it is easily implemented.
关键词： fault tolerance,Fault diagnosis (FD),remotely operated underwater vehicle (ROV),switch-mode hidden Markov model (HMM),particle ?lter (PF),underwater navigation
更新于2025-09-19 17:13:59
-
[IEEE 2019 International Conference on Recent Advances in Energy-efficient Computing and Communication (ICRAECC) - Nagercoil, India (2019.3.7-2019.3.8)] 2019 International Conference on Recent Advances in Energy-efficient Computing and Communication (ICRAECC) - Free Space Optical Communication and Laser Beam Propagation through Turbulent Atmosphere: A Brief Survey
摘要： A particle ?lter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, diagnose simultaneous faults, and it is easily implemented.
关键词： fault tolerance,Fault diagnosis (FD),switch-mode hidden Markov model (HMM),remotely operated underwater vehicle (ROV),particle ?lter (PF),underwater navigation
更新于2025-09-19 17:13:59
-
In-water visual ship hull inspection using a hover-capable underwater vehicle with stereo vision
摘要： Underwater visual inspection is an important task for checking the structural integrity and biofouling of the ship hull surface to improve the operational safety and efficiency of ships and floating vessels. This paper describes the development of an autonomous in‐water visual inspection system and its application to visual hull inspection of a full‐scale ship. The developed system includes a hardware vehicle platform and software algorithms for autonomous operation of the vehicle. The algorithms for vehicle autonomy consist of the guidance, navigation, and control algorithms for real‐time and onboard operation of the vehicle around the hull surface. The environmental perception of the developed system is mainly based on optical camera images, and various computer vision and optimization algorithms are used for vision‐based navigation and visual mapping. In particular, a stereo camera is installed on the underwater vehicle to estimate instantaneous surface normal vectors, which enables high‐precision navigation and robust visual mapping, not only on flat areas but also over moderately curved hull surface areas. The development process of the vehicle platform and the implemented algorithms are described. The results of the field experiment with a full‐scale ship in a real sea environment are presented to demonstrate the feasibility and practical performance of the developed system.
关键词： computer vision,underwater robotics,autonomous underwater vehicles,underwater navigation,visual inspection
更新于2025-09-09 09:28:46