- 标题
- 摘要
- 关键词
- 实验方案
- 产品
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[IEEE 2018 OCEANS - MTS/IEEE Kobe Techno-Ocean (OTO) - Kobe (2018.5.28-2018.5.31)] 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) - Fast and Ultra-Wide Area Bathymetric Survey System Without Support Vessel
摘要： Autonomous underwater vehicle (AUV) operations require manned support vessel for communication, navigation, deployment, and recovery. Because the number of the support vessel is limited, the strong tie between AUV and support vessel prevents to operate many AUVs simultaneously. Since this problem has been shared in oceanic markets, we propose a compact and mobile package of multi-robot system to realize fast and ultra-wide area bathymetric survey without support vessel. The proposed system consists of several numbers of AUVs, single autonomous surface vehicle (ASV), and ground mission control. The proposed system includes an unmanned deploy and recovery system, which enables towing, deploying and recovering multiple AUVs by an ASV without manned support vessel. The three AUVs can equip different payloads and basically follow the order of forming a convoy from the ASV which is also supervised by operators at a remote ground base station. Satellites communications are used between the ground base station and the ASV, and acoustic communications are used between the ASV and the ASVs. The proposed system has been developed and implemented. Several sea-trials had been conducted to confirm the validity of the proposed system. In this paper, we introduce the overall design concept of the proposed system and the recent activities.
关键词： Unmanned system,Autonomous surface vehicle (ASV),Autonomous underwater vehicle (AUV)
更新于2025-09-23 15:22:29
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[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
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[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
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[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
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Visual Docking Against Bubble Noise With 3-D Perception Using Dual-Eye Cameras
摘要： Recently, many studies have been performed worldwide to extend the persistence of underwater operations by autonomous underwater vehicles. Underwater battery recharging technology is one of the solutions even though challenges still remain. The docking function plays an important role not only in battery recharging but also in other advanced applications, such as intervention. Visual servoing in undersea environments inevitably encounters difficulties in recognizing the environment when captured images are disturbed by noise. This study describes the effective recognition performance and robustness against air bubble disturbances in images captured by a real-time position and orientation (pose) tracking and servoing system using stereo vision for a visual-servoing-type underwater vehicle. The recognition of the vehicle pose based on dynamic images captured by dual video cameras was performed by a real-time multistep genetic algorithm (RM-GA). In previous studies, the docking performance was investigated under the condition that there were no disturbances in the captured images that address image degradation. In this paper, the robustness of the RM-GA against air bubble disturbances was verified through visual servoing and docking experiments in a pool test to confirm that the system can continue to recognize the pose of the 3-D marker and can maintain the desired pose by visual servoing. Then, the effectiveness of the proposed system against real disturbances such as turbidity that may degrade the visibility of the system in the sea was confirmed by conducting the docking experiment in a real sea, having verified the practicality of the proposed method.
关键词： genetic algorithm (GA),Air bubble noises,visual servoing,dual-eye cameras,underwater vehicle
更新于2025-09-11 14:15:04
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[IEEE 2018 OCEANS - MTS/IEEE Kobe Techno-Ocean (OTO) - Kobe, Japan (2018.5.28-2018.5.31)] 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) - Robust Visual Odometry in Underwater Environment
摘要： The accurate estimation of pose and velocity of an autonomous underwater vehicle (AUV) is critical to ensure the repeatability and validity of scientific data that is captured using sensors onboard the AUV. A low-cost and effective way is by using stereo camera sensors to perform visual odometry (VO). However, this is a difficult problem in underwater due to poor imaging condition and inconsistent motion caused by water flow. This paper proposes a robust and effective stereo underwater VO system that can overcome aforementioned difficulties and accurately localize the AUV. Experimental results demonstrate that the proposed pipeline outperforms existing VO systems in underwater environment, as well as obtains a comparative performance on the KITTI benchmark dataset.
关键词： autonomous underwater vehicle,stereo camera,underwater,visual odometry,feature-based methods
更新于2025-09-04 15:30:14