Studies of ROV concepts 2021
14 - Review on unmanned underwater robotics, structure designs, materials, sensors, actuators, and navigation control.
Date of publication: 2021 Authors: Javier Neira, Cristhel Sequeiros, Richard Huamani, Elfer Machaca, Paola Fonseca, and Wilder Nina Sim The present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensors, instrumentation technologies, kinds and the number of actuators employed, navigation control techniques, and what is new in development trends. The paper gives a clear starting point for those who are initializing into this research area; also, it brings some helpful knowledge for those who already have experience.
16 - Safe & collaborative autonomous underwater docking.
Date of publication: 2021 Author: Auguste Bourgois This document is a doctorate thesis that describes the reasons and the approach for creating autonomous ROVs for the inspection and maintenance of wind farms.
31 - A method for supervisory control of manipulator of underwater vehicle
Date of publication: 2021 Authors: Alexander Konoplin, Vladimir Filaretov, Alexander Yurmanov. A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This method is designed to significantly increase the level of automation of manipulative operations, by the building of motion trajectories for a manipulator working tool along the surfaces of work objects on the basis of target indications given by the operator.
33 - Investigation of the spatio-temporal behaviour of submarine groundwater discharge using a low-cost multi-sensor-platform.
Authors: Christoph Tholen, Iain Parnum, Robin Rofallski, Lars Nolle, & Oliver Zielinski Submarine groundwater discharge (SGD) is an essential pathway of nutrients into coastal areas. During the last decades, the interest of researchers in SGDs has grown continuously. However, methods applied for SGD research usually focus on the aquifer or the mixing processes on larger scales. The distribution of discharged water within the water column is not well investigated. Small remotely operated vehicles (ROV) equipped with environmental sensors can be used to investigate the spatial distribution of environmental parameters in the water column. Herein, a low-cost multi-sensor platform designed to investigate the spatial distribution of water quality properties is presented. The platform is based on an off-the-shelf underwater vehicle carrying various environmental sensors and a short-baseline localization system.
35 - Navigation of underwater drones and integration of acoustic sensing with onboard inertial navigation system.
Date of publication: 2021 Authors: Alexander Miller, Boris Miller, Gregory Miller This review presents common approaches to underwater navigation and one novel velocity measurement method. The latter is an analog of the well-known Optical Flow method but based on a sequence of sonar array measurements.
3 - Thrust force evaluation for a ROV (Remont Operating Vehicle) propeller
Date of publication: 2021 Author: A Sabau Depending on the area of use, ROV must satisfy numerous constructive and functional requirements, which are difficult to achieve in practice, and the simulation is a challenging alternative. The big challenge is the simulation of the thrust force generated by the propeller. The present work aims to present a simulation with the Ansys Fluid Dynamics software package.
4 - ROV navigation in a fish cage with laser-camera triangulation.
Date of publication: 2021 Authors: Magnus Bjerkeng, Trine Kirkhus, Walter Caharija, Jens T. Thielemann, Herman B. Amundsen, Sveinung Johan Ohrem, and Esten Ingar Grøtli. Purpose: Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle.
5 - The Concept of the Unmanned Surface Vehicle for the Observation-class ROV.
Date of publication: 2021 Authors: A Yu Tolstonogov, A E Kozhushko, I A Chemezov, D A Skalskii, & A Yu Kolomeitsev. The connectedness of an ROV and a carrier vessel imposes restrictions on the ROV and vessel’s joint motion. This article aims to present the concept design of an unmanned surface vehicle for an observation- class ROV. The surface vehicle allows breaking wired onnections between the carrier vessel and the ROV by a wireless communication system based on Wi-Fi technology.
11 - Design, Performance Evaluation and Field Test of a Water Jet Tool for ROV Trencher
Authors: Ji-Hong Li, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim, & Gun Rae Cho. An ROV trencher buries the subsea cables and pipelines using a specifically designed tool. According to the soil conditions, this trenching method can have two different types, one is mechanical cutting, and the other one is water jetting. This paper presents a water jet tool design method for a 2500 m depth-rated ROV trencher. A series of CFD simulations and laboratory tests with one nozzle and a ground test using a 1:6 scale jetting arm models were carried out to derive and demonstrate the jetting tool design parameters.
12 - ROV launch and recovery from an unmanned autonomous surface vessel – Hydrodynamic modelling and system integration.
Authors: Chenyu Zhao, Philipp Thies, Johanning Lars, James Cowles. This paper focuses on the hydrodynamic performance of an unmanned vehicle system, consisting of a remotely operated underwater vehicle (ROV) that has to be launched and recovered autonomously from an Autonomous Surface Vehicles (ASV), that is described in detail. The paper also assesses the overall performance of the ASV/ROV system, including the stability of the ASV, the ROV tidal current capacity, and the required power of the launch and recovery winch system.
19 - Development of a Navigation and Position Tracking System for a Remotely Operated Vehicle (ROV) – ORCA.
Authors: P Tejaswini, I Sai Deepika, & Sakthivel Murugan Santhanam Remotely Operated Vehicles (ROVs) are manually operated underwater vehicles designed for specific applications in maritime environments. Vigilant precautions must be ensured in creating their navigation modules because of the inconsistent nature of underwater channels. This paper aims to focus on this point by developing an apt navigation system for the Remotely Operated Vehicle, ORCA, which has been equipped with sensors such as temperature, pressure, and leak detector, for monitoring the ambient conditions during deployment and an Inertial Measurement Unit for tracking and positioning of an ROV.
22 - Design and Development of SelamDrone Underwater ROV Manoeuvring Control
Authors: O.W. Zulkarnain, A.A. M. Redhwan, N. Bahiyah Baba, M.N. Fadhil, & S. Rosni The present study explores the underwater remotely operated vehicle (ROV) control named SelamDrone. The maneuvering, which includes forward-reverse and rise-sink control, is designed and developed. Beforehand, various factors in designing and fabricating the prototype of underwater ROV, namely functionality, stability, and motor efficiency, need to be considered.
36 - Dynamic characteristics of deep-sea ROV umbilical cables under complex sea conditions
Authors: Peng Chen, Yuwang Liu, Shangkui Yang, Jibiao Chen, Qifeng Zhang, & Yuangui Tang Ensuring the safety of umbilical cables is a core challenge in deep-sea robotics. The umbilical cable usually amplifies the motion amplitude of the mother ship owing to its elastic material. Under the joint action of the mother ship motion and ocean current, the strong internal force waves generated in the umbilical cable tend to cause serious accidents such as umbilical cable breakage. A dynamic model of an umbilical cable under complex sea conditions is established based on the Kirchhoff rod theory. The differential quadrature and New-mark methods are used to discretize the equation in the space and time domains. The characteristics of the umbilical cable under different conditions are analyzed.
37 - Investigating the winch performance in an ASV/ROV autonomous inspection system.
Date of publication: 2021 Authors: Chenyu Zhao, Philipp R. Thies, Lars Johanning. This paper presents the design and performance of the winch system, which couples the ASV and ROV and deploys/recovers the ROV. The hydrodynamic models and control algorithms are developed and solved with analytical and numerical approaches. The winch performance needs to meet a range of operational profiles, including i) ASV following/ not following the ROV ii) winch operating in speed control iii) winch operating in tension control iv) varying ROV distance and depths targets. The work determines the required umbilical length for different ROV targets and suitable winch speeds.
39 - From market-ready ROVs to low-cost AUVs
Date of publication: 2021 Authors: Jonatan Scharff Willners, Ignacio Carlucho, Tomasz Łuczynski, Sean Katagiri, Chandler Lemoine, Joshua Roe, Dylan Stephens, Shida Xu, Yaniel Carreno, Eric Pairet, Corina Barbalata, Yvan Petillot, Sen Wang Autonomous Underwater Vehicles (AUVs) are becoming increasingly crucial for different types of industrial applications. The generally high cost of AUVs restricts access to them and therefore advances in research and technological development. However, recent advances have led to lower-cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. This article presents how a low-cost commercial-off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs.
40 - Double-Loop Sliding Mode Controller with an Ocean Current Observer for the Trajectory Tracking of ROV.
Date of publication: 2021 Authors: Weilei Mu, Yuxue Wang, Hailiang Sun, and Guijie Liu. This paper proposes a double-loop sliding mode controller with an ocean current observer to solve the trajectory tracking problem of insufficient response and the significant tracking error of remotely operated vehicles (ROVs) under the interference of large ocean currents.
42 - Four propellers submarine drone modelling in a real environment.
Authors: Mohamed Moustanir, Karim Benkirane, Adil Sayouti, Hicham Medromi In previous publications, the authors proposed the architectural solution of an ROV with only four thrusters without rudders or diving bars to reduce the hydrodynamic dampers and mechanical elements and justified the choice of this arrangement. Also, they started kinematic and dynamic studies of the marine robot and demonstrated that this remotely operated vehicle (ROV) could move in a perfect environment without gravity or hydrodynamic dampers using the mathematical model under MATLAB. In this article, they study the behavior of this marine vehicle in a real environment.
44 - Catching jellies in immersive virtual reality: A comparative teleoperation study of ROVs in underwater capture tasks.
Authors: Aviv Elor, Tiff any Thang, Benjamin P. Hughes, Alison Crosby, Amy Phung, Everardo Gonzalez, Kakani Katija, Steven H. D. Haddock, Benjamin E. Erwin, Eric J. Martin, Leila Takayama. Remotely Operated Vehicles (ROVs) are essential to human-operated underwater expeditions in the deep sea. However, piloting an ROV to safely interact with live ecosystems is an expensive and cognitively demanding task, requiring extensive maneuvering and situational awareness. Immersive Virtual Reality (VR) Head-Mounted Displays (HMDs) could address some of these challenges. This paper investigates how VR HMDs influence operator performance through a novel telepresence system for piloting ROVs in real-time.
45 - Cost-effective Remote Operated Vehicle
Date of publication: 2021 Authors: Zachari Smolder, Jingang Yi. This paper explores using remotely operated vehicles as a cheap and affordable water exploration platform. ROV’s high cost is a prohibitive barrier, preventing widespread adoption of ROV for personal, research, and conservation uses. This paper explores a cost-effective ROV with video capturing and directional control capabilities to address this problem. Using state-of-the-art robotic technologies, a cost-effective competitive ROV was designed and constructed. It was tested to a depth of 7 m and could reach 30 m.
46 - Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification.
Date of publication: 2021 Authors: Ruochen An, Shuxiang Guo, Yuanhua Yu, Chunying Li , & Tendeng Awa. Conventional manipulators are too heavy for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father-Son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification.
51 - Trajectory tracking control of ROVs considering external disturbances and measurement noises using ESKF-based MPC.
Date of publication: 2021 Authors: Chengqi Long, Xiaohui Qin, Yougang Bian, Manjiang Hu. This paper proposes a tracking method aiming at trajectory tracking for a remotely operated underwater vehicle (ROV) under external disturbances and measurement noises.
53 - Operational failure assessment of Remotely Operated Vehicle (ROV) in harsh offshore environments.
Date of publication: 2021 Authors: Samson Nitonye, Sidum Adumene, Charles Ugochukwu Orji, Anietie Effiong Udo. This paper proposes a structured probabilistic methodology for the operational failure assessment (OFA) characteristics of ROV, for an effective integrity assessment of marine robotic in offshore environments.
54 - Stereo Vision System for Vision-Based Control of Inspection- Class ROVs.
Date of publication: 2021 Authors: Stanisław Hozyn & Bogdan Zak. Remotely Operated Vehicles (ROVs) prime function is to replace humans during risky subaquatic operations. These vehicles gather videos from underwater scenes sent online to a human operator who provides control. Furthermore, these videos are used for analysis. This demands a camera operating at a close distance to the observed objects. Thus, the vehicle should move with a constant speed and a measured distance from the bottom to obtain a detailed depiction. As very few inspection-class ROVs possess navigation systems that facilitate these requirements, this study had the objective of designing a vision-based control method to compensate for this limitation.
8 - Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle.
Authors: Kyle L. Walker, Roman Gabl, Simona Aracri, Yu Cao, Adam A. Stokes, Aristides Kiprakis, Francesco Giorgio- Serchi. Predictive control methods can substantially improve the performance of Unmanned Underwater Vehicles (UUVs), particularly in shallow water environments or near the free surface where wave-induced disturbances are of magnitude comparable to the vehicle's characteristic inertia. Fast estimation of the time evolution of hydrodynamic forces acting on a vehicle is required to facilitate the adoption of these methods. To this end, the authors perform experiments in a wave tank with an ROV to validate the use of Linear Wave Theory (LWT) to capture the time history of the surge, heave, and pitch wave-induced forces and moments.
26 - Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection
Authors: Kamil Cetin, Carlos Suarez Zapico, Harun Tugal, Yvan Petillot, Matthew Dunnigan, & Mustafa Suphi Erden. This study aims to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of the end effector of the robot manipulator mounted on an underwater vehicle. The force tracking algorithm keeps the end effector perpendicular to the unknown surface of the asset, and the position tracking algorithm makes it follow a desired trajectory on the surface. The challenging problem in such a system is to maintain the end effector of the manipulator in continuous and stable contact with the unknown surface in the presence of disturbances and reaction forces that constantly move the floating robot base unexpectedly.
47 - Development of the autonomous underwater noise recorder
Date of publication: 2021 Authors: Donatas Bagocius, Aleksas Naršcius Underwater noise is the most pervasive physical energy that spreads in the underwater marine environment. The concerns regarding man-made underwater noise effects on aquatic animals became prominent within scientific communities. This paper presents the steps for the development of the autonomous recorder, its features, capabilities, and calibration results of the underwater sound recording system.
50 - Simulation model for energy consumption and acoustic underwater communication of autonomous underwater vehicles
Authors: Peter Danielis, Helge Parzyjegla, Mostafa Assem Mohamed Ali, Frank Sill Torres. The modeling and simulation of the energy consumption and underwater acoustic communication play an essential role in studying and developing these systems. The authors provide a modular simulation model for the energy consumption and underwater acoustic communication of AUVs implemented in the network simulator OMNeT++ using the INET framework. More specifically, the authors extend several INET modules in such a way as to reflect the characteristics of AUVs and underwater communication. The authors also study and analyze the AUVs’ energy consumption and dependence of the message quality on different properties such as those mentioned above.
57 - Autonomous Underwater Vehicle in Internet of Underwater Things: A Survey
Date of publication: 2021 Authors: Chinonso Okereke, Nur Haliza Abdul Wahab, Mohd Murtadha Mohamad, & S H Zaleha. The introduction of the Internet of Underwater Things (IoUT) underwater has become a powerful technology necessary to the quest to develop a SMART Ocean. Autonomous Underwater Vehicles (AUVs) play a crucial role in this technology because of their mobility and more extended energy storage. For AUV technologies to be effective, the challenges of AUVs must be adequately solved. This paper provides an overview of the difficulties of IoUT, the contributions of AUVs in IoUT as well as the current challenges and opening in AUV.
48 - Mobile robot 3D trajectory estimation on a multilevel surface with multimodal fusion of 2D camera features and a 3D light detection and ranging point cloud
Authors: Vinicio Rosas-Cervantes, Quoc-Dong hoang, Sooho Woo, and Soon-Geul Lee. This article proposes a 3D robot trajectory estimation based on a multimodal fusion of 2D features extracted from color images and 3D elements from 3D point clouds.
49 - Parameter optimization of unmanned surface vessel propulsion motor based on BAS-PSO
Authors: Li Bian, Xiangqian Che, Liu Chengyang, Dai Jiageng, and He Hui. Despite advances in modern control theory and artificial intelligence technology, current methods for tuning Proportional-Integral-Derivative (PID) controller parameters based on the traditional Particle Swarm Optimization (PSO) algorithm do not meet the requirements for controlling an Unmanned Surface Vessel (USV) propulsion motor. To overcome the disadvantages of the PSO algorithm, such as low precision and easily falling into a local optimum, the Beetle Antennae Search (BAS) algorithm can be introduced into the PSO algorithm by replacing particles with beetles, effectively preventing the PSO algorithm from easily falling into the local optimum.
1 - Solar powered ROV electric propulsion and control
Authors: M. A. Malleswari, B. Venkata Rao, K. Narasimha Rao Solar-powered Remotely Operated Underwater Vehicle (ROV) used in surveillance applications is required to have longer endurance. To achieve this objective, renewable energy is integrated with the efficient electric propulsion of the ROV. Since the power generated is to be utilized effectively, it is imperative to prefer Maximum Power Point Tracking (MPPT) techniques. However, for designing optimized ROV propulsion, a combined simulation of ROV propulsion, control, and solar power interface is to be done.
52 - Prototyping and Stabilizing of Under-Actuated Remotely Operated Vehicle (ROV) using Fuzzy PID Control Algorithm.
Authors: Christos C. Constantinou, George P. Georgiades, and Savvas G. Loizou It has been a challenge for researchers to design automatic underwater machines that should be simple and contain diving capabilities with rapid turning and reversing features. In this paper, The authors presented the prototype model of under-actuated unmanned underwater remotely operated vehicle. The modeling and control design of the proposed model addresses the non- holonomic issue. This prototype will consist of three main thrusters for motion in the x and y-direction. A flap attaches to it by a servo motor to control yaw motion and to control the direction and turn.
55 - A Laser Vision System for Relative 3-D Posture Estimation of an Underwater Vehicle with Hemispherical Optics.
Authors: Josep Bosch, Pere Ridao, Rafael Garcia and Nuno Gracias This paper describes the development and experimental validation of algorithms for a novel laser vision system (LVS), suitable for measuring the relative posture from both solid and mesh-like targets in underwater environments. The system was developed in the framework of the AQUABOT project, a research project dedicated to developing an underwater robotic system for inspection of offshore aquaculture installations.
7 - Underwater docking approach and homing to enable persistent operation
Authors: Brian R. Page, Reeve Lambert, Jalil Chavez- Galaviz and Nina Mahmoudian This paper presents an integrated navigational algorithm to facilitate the docking of autonomous underwater vehicles. The algorithm dynamically re-plans paths to create an efficient trajectory from the current vehicle position through approach into the terminal homing. The course is followed using an integral line of sight control until handoff to the terminal homing method. A light tracking algorithm drives the vehicle from the handoff location into the dock.
13 - Unity Underwater ROV Simulator
Author: Kun Seng Vu The purpose of this paper is to describe an array of tools for simulating underwater vehicles in the virtual reality software platform Unity. The advantage of using Unity is that it provides a helpful interface to modify an object’s attributes and its scripts easily. This allows the user to change and adapt the simulator to different environmental situations.
32 - Offshore inspection mission modelling for an ASV/ROV system
Authors: Chenyu Zhao, Philipp R Thies, Lars Johanning Combined Autonomous Surface Vehicles (ASV) and remotely operated underwater vehicles (ROV) inspection and intervention systems can contribute to future asset management of offshore renewable energy. This paper presents the design and performance of the winch system which couples the ASV and ROV and deploys/recovers the ROV. The hydrodynamic models and control algorithms are developed and solved with analytical and numerical approaches
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Authors: Zhengliang Hu, Jinxing Huang, Pan Xu, Mingxing Nan, Kang Lou, and Guangming Li Fiber-optic hydrophones have received extensive research interest due to their advantage in ocean underwater target detection. This study introduces a kernel extreme learning machine (K-ELM) to source localization in underwater ocean waveguides. As a data-driven machine learning method, K-ELM does not need a priori environment information compared to the conventional method of match field processing.
9 - Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator
Authors: Junli Wang, Shitong Wang, and Wenhao Leng This paper discusses an estimation method for the joint angles of a manipulator, in which several markers are arranged on the arm links and positioned from the corresponding cameras.
17 - Fish Lateral Line-Inspired Flow Sensors and Flow-Aided Control: A Review
Date of publication: 2021 Authors: Yufan Zhai, Xingwen Zheng, Guangming Xie Any phenomenon in nature is a potential to be an inspiration for engineers to propose new ideas. The lateral line is a typical example that has attracted more interest in recent years. With the aid of the lateral line, fish are capable of acquiring fluid information around them, which is of great significance for them to survive, communicate, and hunting underwater. This paper briefly introduces the morphology and mechanism of the lateral line. Then it focuses on the development of an artificial lateral line, which typically consists of an array of sensors and can be installed on underwater robots.
18 - Soft Origami Optical Sensing Actuator for Underwater Manipulation
Authors: Zhong Shen, Yafei Zhao, Hua Zhong, Kailuan Tang, Yishan Chen, Yin Xiao, Juan Yi, Sicong Liu, and Zheng Wang Soft robots are ideal for underwater manipulation, sampling, and other servicing applications. However, the inherent flexibility and high nonlinearity of soft materials also result in combined complex motions, which create both soft actuator and sensor challenges for force output, modeling, and sensory feedback, especially under highly dynamic underwater environments. To address these limitations, a novel Soft Origami Optical-Sensing Actuator (SOSA) with actuation and sensing integration is proposed in this paper.
21 - Applications of Bio-inspired Reversible Dry and Wet Adhesives: A Review
Authors: Minsu Kang, Kahyun Sun, Minho Seong, Insol Hwang, Hyejin Jang, Seongjin Park, Geonjun Choi, Sang-06, Jaeil Kim and Hoon Eui Jeong Bio-inspired adhesives that emulate the unique dry and wet adhesion mechanisms of living systems have been actively explored over the past two decades. Synthetic bio-inspired adhesives that have recently been developed exhibit versatile, smart adhesion capabilities, including controllable adhesion strength, active adhesion control, no residue remaining on the surface, and robust and reversible adhesion to diverse dry and wet surfaces. Owing to these advantages, bio-inspired adhesives have been applied to various engineering domains.
27 - A Perspective on Cephalopod Mimicry and Bioinspired Technologies toward Proprioceptive Autonomous Soft Robots
Authors: Goffredo Giordano, Marco Carlotti, and Barbara Mazzolai Octopus skin is an amazing source of inspiration for bio-inspired sensors, actuators, and control solutions in soft robotics. Soft organic materials, biomacromolecules, and protein ingredients in octopus skin combined with a distributed intelligence, result in adaptive displays that can control emerging optical behavior and 3D surface textures with rough geometries, with remarkably high control speed. Being able to replicate deformable and compliant materials capable of translating mechanical perturbations into molecular and structural chromogenic outputs could be a glorious achievement in materials science and the technological field.
29 - Bioinspired Underwater Adhesion to Rough Substrates through Cavity Collapse of Cupped Microstructures
Authors: Yue Wang, and René Hensel Underwater or wet adhesion is highly desirable for numerous applications, but it is counteracted by the liquids in contact that weaken intermolecular attraction. The problem is exacerbated in conjunction with surface roughness when liquids partially remain in grooves or dimples of the substrate. In the present study, a cupped microstructure with a cavity inspired by the suction organs of aquatic animals is proposed. The microstructures (cup radius of 100 µm) are made from polyurethane using two-photon lithography, followed by replica molding.
30 - The conception and exploration of the underwater vehicle simulator
Authors: Gong Shao-feng, Zhang Jian-bin, Cheng Dong, Xiao Hai- Yan, Dong Ping WU Zhan-sheng This paper describes a new type of underwater vehicle simulator. The underwater vehicle simulator adopts a capsule prefabrication structure and can be carried on a UUV. Each UUV can be loaded with multiple underwater vehicle simulator capsules. After sailing to the predetermined location, the long-distance delivery is carried out. After the underwater vehicle simulator is fully charged and expanded, the underwater vehicle simulator cluster is formed to achieve tactical purposes, such as confusing and inducing enemies in quantity, orientation, and deployment.
38 - Investigation of a New Hovering Autonomous Underwater Vehicle for Underwater Missions
Authors: Faryar Shamshiri Amirkolai, Reza Hasanzadeh Ghasemi It is impossible to implement some tasks by divers because of the complexity of the underwater environment and high pressure in the deep sea. These tasks can only be accomplished by a vehicle that includes all special requirements, such as high maneuverability, precise controllability, and especially hovering capability. Underwater robots are integral parts of the industry and marine science. The use of underwater vehicles has increased with the development of activities in the deep sea. This paper presents a special Hovering type Autonomous Underwater Vehicle (HAUV) for underwater missions.
43 - Underwater Crawling Robot With Hydraulic Soft Actuators
Authors: Qinlin Tan, Yishan Chen, Jianhui Liu, Kehan Zou, Juan Yi, Sicong Liu, and Zheng Wang Benthic operations play a vital role in underwater applications, where crawling robots have advantages compared to turbine-based underwater vehicles in locomotion accuracy, actuation efficiency, current resistance, and carrying more payloads. On the other hand, soft robots are quickly becoming popular in underwater robotic design due to their naturally sealed body structure and intrinsic compliance, which is desirable for the highly unstructured and corrosive underwater environment.
56 - Rigid-Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater
Authors: Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan, and Chaoyang Song Bio-inspirations from soft-bodied animals provide a rich design source for soft robots, yet limited literature has explored the potential enhancement from rigid-bodied ones. This paper draws inspiration from the tooth profiles of the rigid claws of the Boston Lobster, aiming for an enhanced soft finger surface for underwater grasping using an iterative design process.
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15 - Deep learning with self supervision and uncertainty regularization to count fish in underwater images
Authors: Penny Tarling, Mauricio Cantor, Albert Clapés, Sergio Escalera Monitoring populations through imaging has made data collection cheaper, more widespread, and less intrusive. However, it has also created the need to process and analyze this data efficiently. Counting animals from such data is challenging, especially when they are densely packed in noisy images. Manual attempts to process and analyze this data are slow and expensive, while traditional computer vision methods are limited in their generalizability. While deep learning is the state of the art for many computer vision tasks, it has yet to be properly explored for animal counting.
20 - Actuation technologies for Soft robot grippers and manipulators: A review
Authors: Shadab Zaidi, Martina Maselli, Cecilia Laschi, & Matteo Cianchetti Soft robotics has been widely developed within the international robotics community. These robots, being soft, can be used in applications where delicate, yet effective interaction is required. Soft grippers and manipulators are essential, and their actuation is a fundamental area of research. The primary purpose of this work is to provide the reader with references to actuation technologies for soft robotic grippers and their intended applications.
25 - Robust Underwater Fish Detection Using an Enhanced Convolutional Neural Network
Authors: Dipta Gomes, A.F.M. Saifuddin Saif) Underwater object detection is a particularly challenging and relatively unexplored area in computer vision. This research aims to refine image enhancement techniques for underwater images by improving existing tools designed for underwater object detection. The comparative study clearly illustrates the advantages of the proposed method over current techniques. In addition, the research presents a framework specifically tailored for the detection of underwater organisms, such as fish.
34 - Underwater image enhancement algorithm based on Retinex and wavelet fusion
Date of publication: 2021 Authors: Junjun Chen, Zhengzhong Gao, Chen Huang, and Lixing Yang This paper addresses problems such as colour distortion, poor contrast, and blurriness in underwater images by introducing an enhancement algorithm that combines Retinex and Wavelet fusion. First, the multiscale Retinex algorithm is used for colour correction. Next, gamma transformation and sharpening are applied to improve contrast and sharpness. Finally, a wavelet fusion algorithm is used to improve the clarity and detail of the image.
41 - Adaptive Navigation Algorithm with Deep Learning for Autonomous Underwater Vehicle
Authors: Hui Ma, Xiaokai Mu, and Bo He Accurately navigating underwater robots is extremely important. Location tracking can be disrupted by sensors, such as micro-electromechanical systems sensors (MEMS). Although deep learning can address this issue, it may not always be fast or reliable.This paper proposes a new adaptive navigation algorithm that utilizes deep learning to enhance underwater navigation accuracy.
23 - Multi-Link and AUV-Assisted Energy-Efficient Underwater Emergency Communications.
Authors: Zhengrui Huang and Shujie Wang Recent development in wireless communications has provided many reliable solutions to emergency response issues, especially in scenarios with dysfunctional or congested base stations. However, prior studies on underwater emergency communications remain under- studied, which poses a need for combining the merits of different underwater communication links and the manipulability of unmanned vehicles. To realize energy- efficient underwater emergency communications, the authors develop a novel underwater emergency communication network assisted by multiple links, including underwater light, acoustic, and radio frequency links.
28 - A Visual Control Scheme for AUV Underwater Pipeline Tracking
Authors: Waseem Akram and Alessandro Casavola This paper describes a visual control scheme designed for solving a pipeline tracking control problem using Autonomous Underwater Vehicles (AUVs). It highlights the advantages of using AUVs over traditional methods, describe the methodology for generating a reference path for pipeline inspection, and demonstrate the robustness of the scheme through simulations.
6 - Review of machine learning methods in soft robotics
Author: Daekyum Kim, Sang-Hun Kim, Taekyoung Kim, Brian Byunghyun Kang, Minhyuk Lee, Wookeun Park, Subyeong Ku, DongWook Kim, Junghan Kwon, Hochang Lee, Joonbum Bae, Yong-Lae Park, Kyu-Jin Cho, Sungho Jo Soft robots are flexible and adaptive but face challenges in modeling, calibration, and control due to complex behaviors from soft materials. Studies use machine learning to address these issues. This paper reviews machine learning techniques for soft robots, categorizing their use in soft sensors, actuators, and wearable robots. It also analyzes trends and limitations in research, providing a summary of current machine learning methods for soft robots.
58 - Autonomous navigation in unknown environment using sliding mode SLAM and genetic algorithm
Author: Salvador Ortiz, Wen Yu In this paper, sliding mode control is combined with the classical simultaneous localization and mapping (SLAM) method. This combination can overcome the problem of bounded uncertainties in SLAM. With the help of genetic algorithm, our novel path planning method shows many advantages compared with other popular methods.
2 - Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels
Authors: Bruno A. Regina, Leonardo M. Honório, Antônio A. N. Pancoti, Mathaus F. Silva, Murillo F. Santos, Vitor M. L. Lopes, Accacio F. Santos Neto, and Luis G. F. Westin Acoustic Doppler Current Profiler (ADCP) sensors are crucial for evaluating river flow curves, but their positioning can be problematic. This paper proposes a catamaran-like autonomous surface vessel (ASV) with optimized hull design, aerial propulsion, and sensor placement to improve readings and allow inspections in critical areas like ultra-shallow waters and mangroves.
24 - A Mirror-Based Active Vision System for Underwater Robots: From the Design to Active Object Tracking Application
Author: Noel Cortes-Perez and Luz Abril Torres-Mendez A mirror-based active system has been developed to extend the perceptual tracking capabilities of an underwater robot without altering its structure. This allows the robot to explore its surroundings without displacement, enabling effective motion planning and navigation strategies like object tracking and obstacle evasion. The system consists of two arranged mirrors, one static and the other controlled by servomotors. Object tracking is performed using pixels from the homography of a fixed area in the active mirror, with HSV color space used to reduce lighting effects. The system has been tested in real environments, detecting objects of low complexity and poor lighting conditions in real time.