Studies of ROV concepts 2022-2023
The documents are classified chronologically from 2022 to 2023. Click on their descriptions to open and download them.
BUTTON TEXT Previous page 14 - Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC.
Date of publication: 2022 Authors: Xiong Wu, Du Jiang, Juntong Yun, Xin Liu, Ying Sun, Bo Tao, Xiliang Tong, Manman Xu, Jianyi Kong, Ying Liu, Guojun Zhao, & Zifan Fang. Autonomous Underwater Vehicles are often subject to many interferences, which cause poor control stability while performing their tasks. In this paper, a decoupling control algorithm is proposed, and a single control volume/single attitude angle model is constructed for the coupling in the control system of the attitude of six degrees of freedom Autonomous Underwater Vehicle… etc…
23 - Submersibles Greatly Enhance Research on the Diversity of Deep-Reef Fishes in the Greater Caribbean.
Date of publication: 2022 Authors: D. Ross Robertson, Luke Tornabene, Claudia C. Lardizabal, & Carole C. Baldwin. This paper intents to prove that submersibles can efficiently collect reef fishes of a broad range of taxa, ecotypes, and sizes, leading to a more comprehensive understanding of the regional GC deep-reef fish fauna.
28 - Hydrodynamic performance of open-frame deep sea remotely operated vehicles based on computational fluid dynamics method,
Date of publication: 2022 Authors: Qianrong Li & Baoji Zhang The resistance performance and motion stability of deep-sea remotely operated vehicles (ROVs) subjected to underwater motion conditions are based on the unsteady Reynolds-averaged Navier-Stokes method combined with the six-degree-of-freedom equation of motion to quickly and accurately predict them. In the modeling process, the authors consider the complexity of ROV geometry and thus reduce the model to a series of regular geometries to maximize the position and weight of the original components.
30 - Underwater soft robotics: A review of bioinspiration in design, actuation, modeling, and control,
Date of publication: 2022 Authors: Samuel M. Youssef, MennaAllah Soliman, Mahmood A. Saleh, Mostafa A. Mousa, Mahmoud Elsamanty, & Ahmed G. Radwan. Nature and biological creatures are sources of inspiration. Engineers have aspired to emulate these natural systems. As rigid systems become increasingly limited in their capabilities to perform complex tasks and adapt to their environment like living creatures, the need for soft systems has become more prominent due to the similar complex, compliant, and flexible characteristics they share with intelligent natural systems. This review provides an overview of the recent developments in the soft robotics field, focusing on the underwater application frontier.
04 - Communication and Control for Remotely Operated Underwater Vehicles
Date of publication: 2022 Authors: Thanh Le Xuan, Tuan Phan Anh, Duong Tran Khanh, Dong Nguyen, & Tung Pham Xuan. This paper presents research and development on communication and control for Remotely Operated Underwater Vehicles (ROV). For communication and control of the ROV from a Ground Control Station (GCS) on a mothership or land, a lightweight messaging protocol for communicating with ROV based on developing MAVLink has been used. The communication and control system of the ROV from a GCS includes two steps: Communication between the ROV and a float is conducted via electrical cable, & communication between the float and a GCS on mothership or land via wireless technology.
16 - A Novel Bio-Inspired Path Planning for Autonomous Underwater Vehicle for Search and Tracing of Underwater Target
Date of publication: 2022 Authors: Adnan Elahi Khan Khalil, Shahzad Anwar, Ghassan Husnain. Atif Elahi, & Zhang Dong. Underwater search and tracing is a complex engineering problem due to various factors, such as unpredicted oceanic environment, poor communications, underwater navigations. Therefore, an autonomous underwater vehicle (AUV) cooperation is needed to accomplish challenging missions. This study focuses on searching and tracing an underwater target based on an improved cooperative path planning model.
17 - Simu2VITA: A general purpose underwater vehicle simulator
Date of publication: 2022 Authors: Pedro Daniel de Cerqueira Gava, Cairo Lúcio Nascimento Júnior, Juan R. B. F. Silva, & Geraldo José Adabo. This article presents an Unmanned Underwater Vehicle simulator named Simu2VITA 1, designed to be rapid to set up, easy to use, and simple to modify the vehicle’s parameters.
01 - Dynamic Detection Based Trajectory Planning for Autonomous Underwater Vehicle to Collect Data From Underwater Sensors.
Authors: Mingyue Cheng, Quansheng Guan, Fei Ji, Julian Cheng, & Yankun Chen Marine science and Internet of underwater things applications rely significantly on collecting data from underwater sensors. Data collection using long- distance underwater acoustic communications consumes a lot of energy in underwater sensor nodes, which are powered by batteries. To achieve low- energy consumption, we can use the autonomous underwater vehicle (AUV) to move close to sensor nodes and exploit the short-range and high-rate communications.
10 - Online paths planning method for unmanned surface vehicles based on rapidly exploring random tree and a cooperative potential field
Authors: Naifeng Wen, Lingling Zhao, Ru-Bo Zhang, Shuai Wang, Guanqun Liu, Junwei Wu, and Liyuan Wang. The unstructured, dynamic marine environmental information and the cooperative obstacle avoidance problem significantly challenge the online path planner for unmanned surface vehicles. Efficiency and optimization are crucial for online path planning schemes. For this reason, the authors proposed an algorithmic combination of the optimal rapidly exploring random tree and artificial potential field methods.
02 - Towards omnidirectional immersion for ROV teleoperation.
Authors: Josep Bosch, Pere Ridao, Rafael Garcia and Nuno Gracias Omnidirectional cameras underwater enable many new and exciting applications in multiple fields. Among them, Remotely Operated Underwater Vehicles (ROVs) will be piloted directly using the images captured by omnidirectional cameras through virtual reality (VR) headsets. This immersive experience will extend the pilot’s spatial awareness and reduce the usual orientation problems during missions. This paper presents this concept and illustrates it with the first experiments for achieving this purpose.
03 - Modifying an Affordable ROV for Under-ice Sensing
Authors: Lin Zhao, Mingxi Zhou, Brice Loose, Virginia Cousens, Raymond Turrisi An affordable Remotely Operated Vehicle (ROV) has been modified for under-ice sensing. This paper presents the system upgrade, including sensor integration, electronics, and navigation stack. The new ROV is equipped with a Doppler Velocity Log (DVL), an attitude heading reference system (AHRS) for navigation, a stereo camera, and a forward-looking imaging sonar for perception.
05 - Prototyping of a Novel Thruster for Underwater ROVs.
Author: Gokhan Atal This article focuses on passive self-management of the umbilical of a Remotely Operated Vehicle (ROV) for underwater exploration. The goal is to give a predictable shape to the umbilical, using moving ballasts and buoys to stretch the umbilical to avoid entanglement of the cable itself or with surrounding obstacles. The ballasts and buoys move to maintain the cable taut without a motorized system. A model of the umbilical is proposed. The presence of waves, as well as the cases with and without currents, are considered. Three configurations of the umbilical are offered, each to be the most adapted to ROV exploration missions: near the surface, sea exploration, and diving in the presence of significant obstacles.
06 - Self-management of the umbilical of a ROV for underwater exploration.
Author: Christophe Viel. This article focuses on passive self-management of the umbilical of a Remotely Operated Vehicle (ROV) for underwater exploration. The goal is to give a predictable shape to the umbilical, using moving ballasts and buoys to stretch the umbilical to avoid entanglement of the cable itself or with surrounding obstacles. The ballasts and buoys move to maintain the cable taut without a motorized system. A model of the umbilical is proposed. The presence of waves, as well as the cases with and without currents, are considered. Three configurations of the umbilical are offered, each to be the most adapted to ROV exploration missions: near the surface, sea exploration, and diving in the presence of significant obstacles.
08 - Disturbance Observer-Based Double-Loop Sliding-Mode Control for Trajectory Tracking of Work-Class ROVs
Author: Bolun Huang and Qi Yang The open-frame structure of work-class ROVs results in significant model uncertainties, and its motion is strongly disturbed by the umbilical cable. To address these problems, this article developed a nonlinear disturbance observer-based super-twisting double- loop sliding-mode control (NDO-STDSMC) method to achieve trajectory tracking control of work-class ROVs with system uncertainties and external disturbances.
09 - Total Design in the Design and Development Process of a Remotely Operated Vehicle (ROV) with Particular Consideration of Sensorization.
Authors: Teresa Ramos, Antonio Córdoba, Amalia Luque, and Ana de las Heras This paper provides a methodological proposal for the design and development process of a remotely operated vehicle (ROV). The design core and product design specifications (PDS) of Pugh’s Total Design model are considered, focusing on the early stages of the product design and development process.
07 - A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV
Authors: Waseem Akram, Alessandro Casavola, Nadir Kapetanovi, and Nikola Miškovic Aquaculture net pens inspection and monitoring are essential to ensure net stability and fish health in the fish farms. Based on the fact that Remotely operated vehicles (ROVs) offer a low-cost and sophisticated solution for the regular inspection of the underwater fish net pens, the authors discuss the integration of an ROV for regular inspection and tracking of nets.
22 - Development and field testing of a smart support system for ROV operators
Authors: Alexander Konoplin, Nikita Konoplin, and Alexander Yurmanov This article considers the issues of developing a smart system for supporting the activities of ROV operators and its practical implementation of efficient operations of an ROV Comanche 18, based on the R/V Akademik M A Lavrentiev.
19 - Development and experimental verification of search and rescue ROV
Authors: Bing Sun, Wen Pang, Mingzhi Chen, Daqi Zhu This paper presents the design of a new type of search and rescue remotely operated vehicle (ROV) system. The goal is to achieve the underwater target search and detection and small target capture and rescue operation requirements. First, the overall design of the whole underwater surface system and the layout design of the propulsion system are given.
21 - Development and Field Testing of a Smart Support System for ROV Operators
Authors: Alexander Konoplin, Nikita Konoplin, and Alexander Yurmanov This article considers the issues of development of a smart system for supporting activities of ROV operators and its practical implementation for the efficient operation of a ROV Comanche 18 that is based on the R/V Akademik M.A. Lavrentiev. The system uses algorithms that provide coordinated movements of the ROV and its depressor unit. These algorithms are designed for ROVs to make synchronous, accurate, and accident-free movements along long-distance routes even when launched from a support vessel without dynamic positioning (DP).
29 - Investigation of Operating Range of Marine Growth Removing ROV under Off shore Disturbances
Authors: Malte von Benzon, Jesper Liniger, Fredrik Fogh Sørensen, Simon Pedersen Marine growth on offshore underwater structures is a problem as it reduces the lifespan. The structures are cleaned annually by manually operated ROVs. Automation of these ROVs can improve the removal efficiency, and thereby reduce the cleaning campaign time and cost, as it is challenging for the operators to manually stabilize the ROVs under the harsh off shore conditions. Waves, ocean currents, the attached tether and the cleaning tool all generate external forces to the ROVs acting as substantial disturbances which can be rejected by a controller. This study examines the operating range of a standard compact ROV subject to external disturbances.
31 - ROV localization based on umbilical angle measurement
Authors: Christophe Vie, Juliette Drupt, Claire Dune, Vincent Hugel The umbilical of Remote Operated Vehicle (ROV) allows transmitting information in real-time or energy supply to the robot. However, it also has many disadvantages, such as entanglement or the difficulty of predicting its shape, which raises the question of being able to do without it. To turn these constraints into advantages, this paper proposes a method to estimate an ROV's position by observing its umbilical shape.
11 - Designs, motion mechanism, motion coordination, and communication of bionic robot fishes: a survey.
Authors: Zhiwei Yu, Kai Li, Yu Ji, Simon X. Yang In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting researchers to constantly develop innovative designs of various bionic robot fishes. In this paper, the latest designs of robot fishes are presented in detail, distinguished by the propulsion mode.
12 - Multi-Energy Acquisition Modeling and Control Strategy of Underwater Vehicles
Authors: Shijun Shen, Chaofan Wang, Zhiqiang Qiu, Zhiwu Ke, and Dawei Gong An autonomous underwater vehicle (AUV) can only carry limited energy for improved flexibility. In this study, a multi-energy acquisition model is established to manage the AUV’s energy, which includes a heart rate sampling system, a mixed-energy circuit topology, and a maximum power output algorithm of environmental energy based on power trajectory tracking..
13 - A Prototype Autonomous Robot for Underwater Crime Scene Investigation and Emergency Response.
Authors: Zuhayr Rymansaib, Benjamin Thomas, Alfred Anthony Treloar, Benjamin Metcalfe, Peter Wilson, Alan Hunter. Underwater crime scene investigation and emergency response are tasks typically carried out by divers constituting part of a specialist team. Operating in such dynamic environments, often with poor visibility and risk of concealed hazards, can be time-consuming and dangerous. Autonomous uncrewed vessels with underwater acoustic imaging sensors have been used for similar purposes in other fields (e.g., hydrography, naval mine countermeasures, etc.). Still, they have not been adopted in this specific application domain.
15 - Underwater Electromagnetic Guidance Based on the Magnetic Dipole Model Applied in AUV Terminal Docking.
Authors: Ri Lin, Yucheng Zhao, Dejun Li, Mingwei Lin, and Canjun Yang. This paper proposes an underwater electromagnetic guidance method based on the magnetic dipole model to address the poor effect of optical/visual guidance used in AUV terminal docking with strong background light and turbid water quality.
18 - New approach for designing an underwater free-space optical communication system
Authors: Yanhu Chen, Luning Zhang, & Yucheng Ling This study proposes an underwater free-space optical communication method of transmitting information. The characteristics of underwater optical transmission and the photoelectric signal processing and modulation and demodulation algorithms are studied and modeled.
20 - Virtual Underwater Datasets for Autonomous Inspections
Authors: Ioannis Polymenis, Maryam Haroutunian, Rose Norman, & David Trodden There have been recent breakthroughs in Artifcial Intelligence (AI) and, notably, Deep Learning (DL) models and applications. These have widespread usage in various fields, including unmanned aerial vehicles and autonomous vehicles, car navigation, and other applications. However, they are not as prevalent in underwater applications due to the difficulty of obtaining underwater datasets for a specific application. In this sense, the current study utilizes recent advancements in DL to construct a bespoke dataset generated from photographs of items captured in a laboratory environment.
24 - An informative planning-based multi-layer robot navigation system as applied in a poultry barn.
Authors: Tingjun Lei, Guoming Li, Chaomin Luo, Li Zhang, Lantao Liu, & Richard Stephen Gates Many real-world robot applications in precision agriculture, poultry farms, disaster response, and environment monitoring require search, locate, and removal (SLR) operations by autonomous mobile robots. In such application settings, the robots initially search and explore the entire workspace to find the targets so that the subsequent robots conveniently move directly to the targets to fulfill the task. A multi- layer robot navigation system is necessary for SLR operations. The scenario of interest is the removal of broiler mortality by autonomous robots in poultry barns in this paper.
25 - Reinforcement Learning Based Mobile Underwater Localization for Silent UUV in Underwater Acoustic Sensor Networks
Authors: Ruiheng Liao, Wei Su, Xiurong Wu, & En Cheng Unmanned underwater vehicles (UUVs) that are widely utilized for underwater environment detection and underwater resource exploration have to be localized by underwater acoustic sensor networks (UASNs). However, localization accuracy is hard to guarantee due to the limited bandwidths, long propagation latency, and limited energy resources of the UASNs. This paper proposes a reinforcement learning (RL) and neural network-based mobile underwater localization scheme to optimize the anchor node selection in the UASNs to localize the target precisely.
27 - Position Tracking of an Underwater Robot Based on Floating- Downing PI Control.
Authors: Chao-Lin Kuo , Yu-Chi Pu, and Qi-An Chen A remotely operated underwater vehicle (ROV) is crucial in ocean exploration and underwater missions. An ROV is manipulated through a tether cable by an operator on shore or mother boat, and it can be used for underwater observations or as a robotic arm to take samples back. The position control and movement of an ROV are not stable due to buoyancy, ocean current, and surge waves. To overcome the influence of these disturbances on the ROV, the authors propose a switch proportional-integral (PI) controller combined with a buck-boost converter (BBC) to process the ROV’s position following. In this paper, a six-axis ROV was designed and implemented.
32 - A review of underwater acoustic metamaterials for underwater acoustic equipment
Authors: Zhenjing Zhu, Ning Hu, Junyi Wu, Wenxin Li, Jiabao Zhao, Maofa Wang, Fanzong Zeng, Huajie Dai, and Yongju Zheng. Researchers use underwater acoustic equipment to explore the unknown ocean environment, which is one of the important means to understand and utilize the ocean. For underwater acoustic equipment, the application of underwater acoustic metamaterials is the premise to ensure and improve the performance of underwater acoustic communication, acoustic stealth, and sonar detection.
33 - An Underwater Human–Robot Interaction Using a Visual– Textual Model for Autonomous Underwater Vehicles
Authors: Yongji Zhang, Yu Jiang, Hong Qi, Minghao hao, Yuehang Wang, Kai Wang, Fenglin We The marine environment presents unique challenges for human–robot interaction. Communicating with gestures is a common way for interacting between the diver and autonomous underwater vehicles (AUVs). However, underwater gesture recognition is a challenging visual task for AUVs due to light refraction and wavelength color attenuation issues. Current gesture recognition methods classify the whole image directly or locate the hand position first and then classify the hand features. Among these purely visual approaches, textual information is largely ignored. This paper proposes a visual–textual model for underwater hand gesture recognition (VT-UHGR).
34 - Intelligent Reflecting Surfaces for Underwater Visible Light Communications.
Authors: Yalçın Ata, Hanaa Abumarshoud, Lina Bariah, Sami Muhaidat, and Muhammad Ali Imran Intelligent reflecting surfaces (IRSs) offer a paradigm shift towards enhancing wireless communications capabilities. Using this emerging technology in underwater wireless systems is a promising solution to overcome the limitations pertinent to such challenging environments. In this paper, we quantify the performance enhancement offered by integrating IRS technology in the context of underwater optical wireless communication (OWC). Specifically, the authors derive a closed-form expression for the outage probability over log-normal channels, considering the underwater attenuation, pointing error, and turbulence effects.
35 - Designing and Analysis of Underwater Optical Wireless communication system.
Authors: Ali F.Kaeib, Omar .A. Alshawish, Suhayl Ali Altayf, Mohammed A. Gamoudi Underwater wireless communications have more attention daily due to their wide applications in the military and the scientific community. It is also useful in vehicles and devices deployed underwater, which are challenging to connect with wires. Acoustic communications mostly use underwater technology nowadays, which suffers from limited bandwidth and capacity. For this reason, complementary technology like underwater wireless optical communication (UOWC) will be in the field. This paper simulated the UOWC system with Optisystem software to measure the maximum distances in different underwater mediums.
37 - 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.
38 - Review of Crucial Problems of Underwater Wireless Power Transmission.
Authors: Le Yu, Han Sun, Shangwei Su, Huixuan Tang, Hao Sun, and Xiaoyu Zhang Based on the analysis of the development status of underwater wireless power transmission technology, this paper puts forward the challenges of underwater wireless power transmission, and summarizes the electromagnetic coupler structure, underwater docking mode, compensation topology, control method, and eddy current loss. The present research hotspots in the field of underwater wireless power transmission are summarized and analyzed. Finally, according to the development trend of technology, the urgent technical problems in underwater wireless power transmission are expounded.
39 - Formation control of multiple autonomous underwater vehicles: a review.
Authors: Tao Yan, Zhe Xu, Simon X. Yang, S. Andrew Gadsden This paper presents a comprehensive overview of recent developments in formation control of multiple autonomous underwater vehicles (AUVs). Several commonly used structures and approaches for formation coordination are listed, and the advantages and deficiencies of each method are discussed. The difficulties confronted in synthesis of a practical AUVs formation system are clarified and analyzed in terms of the characteristic of AUVs, adverse underwater environments, and communication constraints. The state-of-the-art solutions available for addressing these challenges are reviewed comprehensively.
41 - Analysis of a New Twin Hybrid Autonomous Underwater Vehicle.
Authors: Jiafeng Huang, Hyeung-Sik Choi, Dong- Wook Jung, Ki-Beom Choo, Hyunjoon Cho, Phan Huy Nam Anh, Ruochen Zhang, Joon- Young Kim, Daehyeong Ji, Jung-Hyeun Park The “twin hybrid autonomous underwater vehicle” is a novel unmanned underwater platform consisting of a twin torpedo-shaped hull actuated by two buoyancy engines and two thrusters. It was designed to have faster speed generated by the two buoyancy engines and two thrusters. The two buoyancy engines on each hull and the airfoil are mainly responsible for the diving and surfacing motion, and the thrusters drive it along the horizontal plane. It can carry more instrumentation and energy than a conventional hybrid autonomous underwater vehicle and perform more exploration tasks for extended periods.
42 - Design and Construction of Hybrid Autonomous Underwater Glider for Underwater Research.
Authors: Simon Siregar, Bambang Riyanto Trilaksono, Egi Muhammad Idris Hidayat, Muljowidodo Kartidjo, Natsir Habibullah, Muhammad Fikri Zulkarnain, and Handi Nugroho Setiawan The main goal of this paper was to design and construct a hybrid autonomous underwater glider (HAUG) with a torpedo shape, a size 230 cm in length and 24 cm in diameter. The control, navigation, and guidance system were executed simultaneously using a Udoo X86 minicomputer as the main server and three BeagleBone Black single-board computers as the clients. The simulations showed a controlled horizontal speed of 0.5 m/s in AUV mode and 0.39 to 0.51 m/s in glide mode with a pitch angle between 14.13 deg. and 26.89 deg.
44 - Lightweight underwater robot developed for archaeological surveys and excavations.
Authors: Shohei Hotta, Yusuke Mitsui, Mizuki Suka, Norimitsu Sakagami, and Sadao Kawamura. This paper reports the development of a lightweight remotely operated vehicle that performs underwater excavation work for archaeological surveys. Discovering underwater artifacts is generally difficult because they are often covered with sediment in high- risk areas. To find them, divers and large remotely operated vehicles must conduct excavation work with manipulators. Nevertheless, accomplishing such tasks is difficult for small underwater robots without a manipulator. For this reason, the authors developed a lightweight underwater robot of 35 kg that can remove sediment from the seabed or lake bottom using its thrusters instead of a manipulator.
45 - Review of Localization and Clustering in USV and AUV for Underwater Wireless Sensor Networks.
Authors: Kaveripakam Sathish, Ravikumar Chinthaginjala Venkata, Rajesh Anbazhagan, & Giovanni Pau Oceanographic data collection, disaster prevention, aided navigation, critical observation sub-missions, contaminant screening, and seaward scanning are just a few of the underwater sensor hub submissions. Unmanned submerged vehicles (USVs) or autonomous acoustic underwater vehicles (AUVs) through sensors would similarly be able to explore unique underwater resources and gather data when utilized with integrated screen operations. The most advanced technological method of oceanic observation is wireless information routing beneath the ocean or generally underwater.
47 - Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot.
Authors: Qiyun Cheng, Wenyuan Mo, Long Chen, Wei Ke, Jun Hu, and Yuwei Wu. Underwater robotics is rapidly evolving due to the increasing demand for marine resource exploitation. Compared with rigid robots using propellers, bionic robots are stealthier and more maneuverable, such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs), making them widely used underwater. To study the motion state of the umbrella jellyfish bionic robot, the displacement of the jellyfish robot along the same direction and the surrounding fluid pressure distribution caused by the jellyfish motion under different experimental conditions are discussed in this paper.
48 - Experimental Investigation of Relative Localization Estimation in a Coordinated Formation Control of Low-Cost Underwater Drones.
Authors: Thierry Soriano, Hoang Anh Pham, & Valentin Gies. This study presents a relative localization estimation method for low-cost underwater drones (l-UD), which only use visual feedback from an onboard camera and Inertial Measurement Unit (IMU) data. It aims to design a distributed controller for a group of robots to reach a specific shape. This controller is based on a leader- follower architecture. The main contribution is determining the relative position between the low-cost underwater drone without using digital communication and sonar positioning methods.
26 - Side-Scan Sonar Image Segmentation Based on Multi-Channel CNN for AUV Navigation
Authors: Dianyu Yang, Chensheng Cheng, Can Wang, Guang Pan and Feihu Zhang The AUV (Autonomous Underwater Vehicle) navigation process relies on the interaction of a variety of sensors. The side-scan sonar can collect underwater images and obtain semantic underwater environment information after processing, which will help improve the ability of AUV autonomous navigation. However, there is no practical method to utilize the semantic information of side scan sonar image. A new convolutional neural network model is proposed to solve this problem in this paper.
36 - Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom
Authors: Xiaofei Du, Chaoyong Zong, Bo Zhang, and Maolin Shi AUV docking devices have the ability to achieve homing of the AUV, supply the AUV with energy, and exchange data with it, thus improving the endurance and ensuring the continuous long-term and large- scale operation of the AUV. To improve the successful docking rate of the AUV, a funnel-shaped underwater docking device with multi-degree freedom based on a deep-sea platform was designed in this paper.
40 - Research on non-contact wet mateable connector for optical communication and power transmission
Authors: Zhiyong Duan, Yurui Zhang, Jiaqi Hu, Bohao He, and Canjun Yang At present, contact watertight connectors are commonly utilized for the connection between underwater electromechanical equipment and the seabed observation network. Such traditional watertight connectors are easy to be irreversibly worn when plugging and unplugging, however, they have complicated sealing structures and limited service life. This paper designs a Non-contact Wet Mateable connector for Optical Communication and Power Transmission (OCPT-NWMC), which is based on technology of Contactless Power Transmission (CLPT) and optical communication.
43 - Deep-sea freezer
Authors: Shinsuke Kawagucci, Yohei Matsui, Hidetaka Nomaki, and Chong Chen Recovery of samples from the deep ocean in pristine condition is diffficult due to large environmental differences between the deep and surface waters through which the samples necessarily must be transported. The authors propose a concept for deep- sea sample recovery: a deep-sea freezer using thermoelectric cooling capable of generating ice in the deep and recover them frozen on-board ships.
46 - Operability analysis of control system for ROV launch-and- recovery from autonomous surface vessel
Authors: Celine Tran, Ivan Gushkov, Kristoffer Nordvik, Simen T. Røang, Simen B. Lysthaug, Babak Ommani, Thor I. Fossen, Vahid Hassani, Vidar Smines, Tor A. Johansen The launch and recovery of equipment such as remotely operated vehicles (ROVs) is a critical task that defines the operability limits of many marine operations. This paper considers the analysis of control systems that are designed to maximize the operability limits for launch and recovery of a ROV from a small unmanned surface vessel (USV).
49 - System identification (SI) modelling controller design and hardware testing for vertical trajectory of underwater remotely operated vehicle (ROV)
Authors: Fauzal Naim Zohedi, Mohd Shahrieel Mohd Aras, Hyreil Anuar Kasdirin, Mohd Bazli Bahar, & Lokman Abdullah The underwater environment makes it hard for ROV operators to control the manipulator while holding position simultaneously. This led to modelling and controller design for the vertical trajectory of ROV. In this paper, the System Identification (SI) modeling technique was used to model the vertical trajectory of the ROV. Then, the Proportional, Integral, and Derivative (PID) controller was implemented to control the trajectory.
50 - Vision-based underwater target real-time detection for autonomous underwater vehicle subsea exploration
Authors: Gaofei Xu, Daoxian Zhou, Libiao Yuan, Wei Guo, Zepeng Huang, and Yinlong Zhang Autonomous underwater vehicles (AUVs) equipped with online visual inspection systems can detect underwater targets during underwater operations, which is of great significance to subsea exploration. However, the undersea scene has some instinctive challenging problems, such as poor lighting conditions, sediment burial, and marine biofouling mimicry, which makes it difficult for traditional target detection algorithms to achieve online, reliable, and accurate detection of underwater targets.
51 - Design of an ROV to find Dead Bodies Underwater
Authors: Uday Chandrakant Patkar, Megha Patil, Aditya Chandhoke, Abhijeet Jain, Muskan Kumari, Namokar Jain, Shikha Bhardwaj, Uday Shankar Patil The authors present a solution of an underwater ROV (Remotely operated Vehicle) in which theyl fit the camera to detect the human body in optimal time. For underwater operations, computer vision is one of the most important technologies. For an Underwater environment, weak lighting, and dissolved particles are tough for a pre-processing procedure, which is necessary for underwater vision.
52 - Energy-Efficient Multiple Autonomous Underwater Vehicle Path Planning Scheme in Underwater Sensor Networks
Authors: Yangfan Cui, Peibin Zhu, Guowei Lei, Peng Chen, & Guangsong Yang To solve the problems of limited energy and the difficulty of battery replacement in UWSN, a path planning and energy-saving scheme for charging underwater sensor nodes using AUVs (autonomous underwater vehicles) is proposed. Applying multiple AUVs to charge the sensing network nodes will maximize the size of the underwater sensing network as well as meet the transmission reliability, and the optimal path of AUVs is solved by using a genetic algorithm.
53 - Localization Uncertainty Estimation for Autonomous Underwater
Authors: Yong Zhang, Feihu Zhang, Zhiliang Wang, & Xiaofang Zhang The authors propose a precise underwater dead- reckoning mathematical model that recursively calculates the ground truth and corresponding errors based on an AUV’s motion model, and we derive empirical formulas. Compared to related methods, this approach not only models the cumulative errors of relative noise measurements, but also provides recursive expressions with corresponding statistical moments. The experimental results demonstrate that this formula significantly reduces positioning errors in underwater navigation tasks.
54 - Recent progress on underwater soft robots: adhesion, grabbing, actuating, and sensing
Authors: Yeming Zhang, Demin Kong, Yan Shi, Maolin Cai, Qihui Yu, Shuping Li, Kai Wang, & Chuangchuang Liu The main focus of this paper is to classify different types of underwater organisms according to their common motion modes, focusing on the achievements of some bionic mechanisms in different functional fields that have imitated various motion modes underwater in recent years (e.g., the underwater sucking glove, the underwater Gripper, and the self-powered soft robot). The development of various task types (e.g., grasping, adhesive, driving or swimming, and sensing functions) and mechanism realization forms of the underwater soft robot are described based on this article.
55 - Underwater Undulating Propulsion Biomimetic Robots: A Review
Authors: Gongbo Li , Guijie Liu, Dingxin Leng, Xin Fang, Guanghao Li, & Wenqian Wang. This paper classifies the existing underwater biomimetic robots and outlines their main contributions to the field. The propulsion mechanisms of underwater biomimetic undulating robots are summarized based on theoretical, numerical and experimental studies. Future perspectives on underwater biomimetic undulating robots are also presented, filling the gaps in the existing literature.