studies-rov-concepts_2023-b

Studies of ROV concepts 2023 - Part B

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.

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.

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.

Authors: Xiaodong Liu, Yuli Hu, Zhaoyong Mao, and Wenlong Tian Unmanned Underwater Vehicles (UUV) face maneuverability and rapidity challenges when they are applied for detecting and repairing submarine oil and gas pipelines, and fiber cables near the seabed. This research establishes numerical models of the bare UUV and self-propelled UUV near the seabed using the computational fluid dynamics (CFD) method. The effect of dimensionless distance Hd and ReL on the hydrodynamic performance of the vehicle and the interaction between the hull and the propeller is investigated.

Authors: Mengzhuo Liu, Jifeng Zhu, Xiaohe Pan, Guolin Wang, Jun Liu, Zheng Peng, and Jun-Hong Cui Underwater vehicles play a crucial role in various underwater applications, such as data collection in underwater sensor networks, target detection and tracking, and underwater pipeline monitoring. Real-time acquisition of their states, particularly their location and velocity is vital for their operation and navigation. Consequently, the development of a remote tracking system to monitor these states is essential. In this paper, we propose a system that can track the underwater vehicle’s location and velocity.

Authors: Mahfuzul Huda, Kumar Rohit, Bikramjit Sarkar, and Souvik Pal An imaginative technique is proposed that addresses the nature of underwater images by eliminating shadows and poorly differentiated relics that are normally tracked in them. The most common methods of capturing underwater images, resolution, reflection, and capture are affected by various lighting effects. These effects can make your photo weaker or covertly louder. Improvement strategies are needed to overcome these degrading factors. This post presents a procedure, with example calculations, to handle the nature of submerged images, using a generic histogram with limited contrast.

Authors: Hasnain Munir, Shabahat Hasnain Qamar, Sara Khan, Adrian David Cheok, Haider Ali, Muhammad Shoaib Remotely Operated Underwater Vehicles (ROVs) are an emerging technology for ocean research, environmental and geochemical studies, mine hunting, surveillance, and commercial use. Due to their affordability, simplicity in handling and deployment, appropriateness for deep-sea diving, increased mobility, and ability to operate in harsh settings, underwater vehiclesboth autonomous and remotely controlled - have grown in popularity. The goal is to develop and test a remotely operated underwater vehicle (ROV) that is lightweight, affordable, and capable of conducting surveys in shallow waters.

Authors: Fushen Ren, and Qing Hu Underwater robots play a vital role in the exploration and development of marine resources and the inspection and maintenance of offshore platforms. This paper studies the motion control, kinematics, and dynamics of ROVs. The kinematic and dynamic models of ROVs have been established, and the degrees of freedom of the models according to the control requirements.

Authors: Zexin Zhao This paper first introduces the significance and application value of underwater vehicles, then briefly enumerates the current research status and application fields of autonomous small underwater vehicles, and puts forward the prospect of its future development trend. Finally, the progress in the research and development of small autonomous underwater vehicles, the existing shortcomings, and the necessity of continuing to develop high-quality small autonomous underwater vehicles are summarized.

Authors: Tianlei Wang, Fei Ding and Zhenxing Sun Human intelligence has the advantage for making high-level decisions in the remote control of underwater vehicles, while autonomous control is superior for accurate and fast close-range pose adjustment. Combining the advantages of both remote and autonomous control, this paper proposes a visual-aided shared-control method for a semi-autonomous underwater vehicle (sAUV) to conduct flexible, efficient, and stable underwater grasping. The proposed method utilizes an arbitration mechanism to assign the authority weights of the human command and the automatic controller according to the attraction field (AF) generated by the target objects.

Authors: Hongbo Li, Aijun Liu, Qiang Yang, Changjun Yu, and Xuguang Yang This study proposes a method to extend the virtual aperture of the small aperture high-frequency surface wave radar multi-element array, inspired by a fly named Ormia ochracea. Despite the tremendous incompatibility between its ear and the incoming wavelength, Ormia can accurately locate the sound of its host cricket. This ability benefits from the coupled structure of Ormia’s ears, which has been modeled as a mechanical vibration system.

Authors: Jimin Hwang, Neil Bose, Gina Millar, Craig Bulger, and Ginelle Nazareth Autonomous underwater vehicles (AUVs) have been applied in various scientific missions including oceanographic research, bathymetry studies, sea mine detection, and marine pollution tracking. The authors designed and field-tested in the ocean a backseat driver autonomous system for a 5.5 m survey- class Explorer AUV to detect and track a mixed-phase oil plume.

Authors: Edosa Osa, Daniel Chinemelem Samuels This paper describes the design of a control system for an autonomous Underwater vehicle EDYSYS 1. An autonomous underwater vehicle is an unmanned and self-propelled underwater vessel that can operate independently underwater and carry out several missions as assigned to it, compared to a Remotely Operated Vehicle (ROV), which is usually tethered to a ship or some other moored water vehicle. Intelligent design of control systems for autonomous underwater vehicles is an active area of research, given the demands for autonomy and the capacity for intelligent systems to satisfy such demands.

Authors: Rafał Kot The underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This article presents a global trajectory planning system based on a multimodal approach.

Authors: Fernando Gómez-Bravo, Alejandro G arrocho-Cruz, Olga Marín-Cañas, Inmaculada Pulido-Calvo, Juan Carlos Gutierrez-Estrada, and Antonio Peregrín-Rubio This article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes remotely operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilities while enabling two fully autonomous applications. The approach emphasizes the implementation of reactive navigation by exclusively utilizing data from a Mechanical Scanned Imaging Sonar for control decisions.

Authors: Zhaorui Gu, Xiuhan Liu, Zhiqiang Hu, Guoyu Wang, Bing Zheng, John Watson, and Haiyong Zheng Optical imaging technology is crucial for underwater research, but it faces challenges with light transmission. Underwater computational imaging, which blends optical design with signal processing, can enhance resolution and usability. However, it often adapts techniques meant for air to water, missing targeted research on crucial needs and technology. It is essential to define the benefits of underwater imaging technology's benefits and explore its potential in complex scenarios to achieve significant advancements.

Authors: Abdelhakim Amer, Olaya Álvarez-Tuñón, Halil Ibrahim Ugurlu, Jonas le Fevre Sejersen, Yury Brodskiy, and Erdal Kayacan Underwater robotic surveys can be costly due to the challenging environment and the requirement for various sensors. However, many simulators lack high-quality rendering, which limits their real-world application. UNav- Sim is the first simulator to use Unreal Engine 5, a series of 3D computer graphics game engines developed by Epic Games, for detailed rendering that allows researchers to build and test underwater algorithms.

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Authors: Shihao Zheng , Xi Liang, Jiayong Li, Yanyan Liu, and Jun Tang This study focused on reducing drag in the shipping industry by developing a novel surface design inspired by the ridge structure of killer whale skin to improve energy efficiency for ships, proposing a non-smooth surface drag reduction method. It details the methods used, including numerical simulations, and discusses the results, which show significant drag reduction and potential energy savings, and concludes by highlighting the practical significance of the research in enhancing fuel efficiency in maritime transportation.

Authors: Ahsan Tanveer, and Sarvat Mushtaq Ahmad This paper describes the development and testing of a control system for a compact, low-cost, remotely operated unmanned underwater vehicle (MicroROV), outlining the process of designing and implementing a model-based control strategy, including the development of nonlinear equations of motion, the investigation of cross-coupling dynamics, and the use of advanced modeling and control techniques such as ARMAX models and the Marine Predator Algorithm. It also highlights the successful deployment and testing of the control system in real conditions, demonstrating its effectiveness.

Authors: Haoyuan Cheng, Qi Chen, Xiangwei Zeng, Haoxun Yuan, and Linjie Zhang This document aims to present a research study on a novel navigation and control method for underwater vehicles, specifically focusing on autonomous navigation capabilities independent of satellites. It introduces an algorithm for measuring course angles using underwater polarization patterns, develops related detection equipment, and establishes a navigation method that combines polarization and inertial information. .

Authors: Jungseok Hong, Sadman Sakib Enan, Junaed Sattar The intent of the text is to present and discuss a novel algorithm for diver identification in the context of human- robot interaction with autonomous underwater vehicles (AUVs). The text aims to highlight the challenges of identifying divers due to similar-looking scuba gear and to introduce a solution that uses anthropometric data and an embedding network to improve classification performance. Additionally, the text seeks to demonstrate the effectiveness of this algorithm through quantitative results from controlled-water experiments.

18 - An Observer-Based Adaptive Neural Network Finite-Time Tracking Control for Autonomous Underwater Vehicles via Command Filters

Authors: Jun Guo, Jun Wang and Yuming Bo The authors of this paper describe a technical approach for improving the control of autonomous underwater vehicles (AUVs) in unpredictable marine environments, highlighting the challenges faced due to uncertain dynamics and external disturbances and presenting a solution involving a finite-time adaptive tracking control method. They detail a neural network to estimate uncertainties, an observer for position and velocity estimation, and a finite-time controller designed with backstepping and command filter techniques.

05 - Deep learning-based scene understanding for autonomous robots: a survey.

Authors: Jianjun Ni, Yan Chen, Guangyi Tang, Jiamei Shi, Weidong Cao, Pengfei Shi This paper reviews recent advancements in coordinating multiple autonomous underwater vehicles (AUVs). It discusses various methods, their pros and cons, and the challenges faced in creating effective formation systems. Future work is suggested to enhance AUVs applications.

02 - The Future of Underwater Robotics: Trends and Technologies in ROV Design and Application

Author: Priyanka Das This paper analyzes the current advancements and future directions of remotely operated vehicles (ROVs) in underwater environments. It discusses innovations in ROV design, such as complex sensing systems, improved power mechanisms, and enhanced communication and power management systems. Modular concepts allow for customization, expanding their applications in various fields. The paper examines potential future developments, including autonomous operation, biomimicry, and better environmental monitoring, and predicts increased use of ROVs in citizen science and education as technology costs decrease.

19 - A Review of the Various Control Algorithms for Trajectory Control of Unmanned Underwater Vehicles

Author: Adeel Bashir, Sikandar Khan, Naveed Iqbal, Salem Bashmal, Sami Ullah, Fayyaz, and Muhammad Usman Unmanned underwater vehicles (UUVs) are increasingly used for tasks like exploring tough underwater areas, military operations, inspecting oil and gas structures, scientific research, and search and rescue missions. They offer safety, efficiency, and cost benefits but face challenges in communication, navigation, maintenance, and disturbances. This paper reviews various control system design algorithms for UUVs, comparing their reliability, robustness, and ability to handle challenges. It also examines simulation and experimental results to aid in selecting the right algorithm for UUV control systems.