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Positioning Combination Method of USBL Using Four-Element Stereo Array

Wei Wang, Min Zhu, Bo Yang
2021 Sensors  
In the present article, an ultra-short baseline (USBL) combined location method based on three four-element stereo arrays is proposed.  ...  In order to solve the problem of the poor positioning effect of acoustic positioning under a high incident angle of signal, two kinds of four-element stereo arrays are designed, and the localization approach  ...  From the simulation results, the localization processing time of the four-element stereo array is about twice that of four-element planar array.  ... 
doi:10.3390/s21227722 pmid:34833814 pmcid:PMC8624195 fatcat:fuzxmkri7fcdrhetcv3so6hnzi

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

Josué González-García, Alfonso Gómez-Espinosa, Enrique Cuan-Urquizo, Luis Govinda García-Valdovinos, Tomás Salgado-Jiménez, Jesús Arturo Escobedo Cabello
2020 Applied Sciences  
In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems.  ...  Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments.  ...  [49] used a digital USBL system for AUV recovery. The AUV was equipped with a receiver array of four transducers and a transponder array was mounted on an USV which served as recovery station.  ... 
doi:10.3390/app10041256 fatcat:5no5dqan4nfd7gj77rjatffzsa

Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control and Coordination [article]

Nicholas R. Rypkema, Henrik Schmidt, Erin M. Fischell
2021 arXiv   pre-print
(USBL) array of acoustic receivers.  ...  One-way travel-time (OWTT) from synchronized clocks and time-delays between signals received by each array element allows any number of vehicles within receive distance to determine range, angle, and thus  ...  Bhatt, as well as the MIT Sailing Pavilion staff for use of their facilities. We also thank the anonymous reviewers for their critical comments.  ... 
arXiv:2110.13825v1 fatcat:6getoye4wjblhjjskmuhhyposy

Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination

Nicholas Rypkema, Henrik Schmidt, Erin Fischell
2022 Field Robotics  
One-way travel-time from synchronized clocks and time-delays between signals received by each array element allow any number of vehicles within receive distance to determine range, angle, and thus determine  ...  positioning system, demonstrating the capabilities and robustness of our approach with real-world data.  ...  Bhatt, as well as the MIT Sailing Pavilion staff for use of their facilities. We also thank the anonymous reviewers for their critical comments.  ... 
doi:10.55417/fr.2022026 fatcat:2twpynlekzgmhgapl6pcgjii3m

Coregistered Hyperspectral and Stereo Image Seafloor Mapping from an Autonomous Underwater Vehicle

Daniel L. Bongiorno, Mitch Bryson, Tom C. L. Bridge, Donald G. Dansereau, Stefan B. Williams
2017 Journal of Field Robotics  
would typically prevent the use of remote-sensing methods.  ...  We present a new method for in situ high-resolution hyperspectral mapping of the seafloor utilizing a spectrometer colocated and coregistered with a high-resolution color stereo camera system onboard an  ...  The authors also acknowledge the support of the Australian Centre for Field Robotics and the University of Sydney.  ... 
doi:10.1002/rob.21713 fatcat:stty6stn3bcjlonjxp3ggn64ya

Fundamentals of Underwater Vehicle Hardware and Their Applications [chapter]

Hiroshi Yoshida
2009 Underwater Vehicles  
Finally, the details of the AUVs using the above-mentioned devices are given, including some of the sea trial results.  ...  In the third section, we present attempts made for data processing methods for autonomous control of underwater vehicles.  ...  Table 1 shows the specifications of the USBL system. The accuracy of the position is relatively low because the probe position is directly obtained using the station TV camera in their plan.  ... 
doi:10.5772/6721 fatcat:okt6gwf52vcr7f4kucqgmgdz54

Observing using sound and light – a short review of underwater acoustic and video-based methods

P. Jonsson, I. Sillitoe, B. Dushaw, J. Nystuen, J. Heltne
2009 Ocean Science Discussions  
The acoustic section of the review covers bathymetric and geometrical measurements, imaging sonars, subsurface penetrating profilers, positioning methods, acoustic underwater communication and sensor networks  ...  This is followed by notes on processing techniques including mosaicking, stereo video, structured light, recording and transmission, image enhance-15 ment techniques and ends with a short discussion of  ...  The method relies upon a number of transducer elements, configured either as a strip (line array) or across a two-dimensional surface (plane array).  ... 
doi:10.5194/osd-6-819-2009 fatcat:ffujnslprrcmjo2rhgjnpihivu

Mapping the Historical Shipwreck Figaro in the High Arctic Using Underwater Sensor-Carrying Robots

Aksel Alstad Mogstad, Øyvind Ødegård, Stein Melvær Nornes, Martin Ludvigsen, Geir Johnsen, Asgeir J. Sørensen, Jørgen Berge
2020 Remote Sensing  
As the wreck is protected by law as an underwater cultural heritage (UCH) site, only non-intrusive methods could be used during surveys.  ...  In addition to stereo camera images, HD-video and underwater hyperspectral imagery was also obtained from the wreck site.  ...  Acknowledgments: The authors would like to thank the crew of RV Helmer Hanssen, the engineers at NTNU AUR-Lab and the students involved in the fieldwork during the 2015 UNIS course AT-334 Arctic Marine  ... 
doi:10.3390/rs12060997 fatcat:nx6nmnapqnejjjptkx2auj3ytq

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Javier Neira, Cristhel Sequeiros, Richard Huamani, Elfer Machaca, Paola Fonseca, Wilder Nina, L. Fortuna
2021 Journal of Robotics  
In this context, the present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensor and instrumentation technologies, kinds  ...  Since its beginning, around the 50s decade, until present days, the area of unmanned underwater vehicles (UUV) has considerably grown through time; those have been used for many tasks and applications,  ...  Figure 36 is an example of the calculated position through the use of a hydrophone array. is use is carried out in different UUVs, such as DaryaBird, which employs an altitude sensor TRAX [19] , which  ... 
doi:10.1155/2021/5542920 fatcat:cvfaijuiune5tboghrefzzhnhu

Reconfigurable AUV for intervention missions: a case study on underwater object recovery

Mario Prats, David Ribas, Narcís Palomeras, Juan Carlos García, Volker Nannen, Stephan Wirth, José Javier Fernández, Joan P. Beltrán, Ricard Campos, Pere Ridao, Pedro J. Sanz, Gabriel Oliver (+4 others)
2011 Intelligent Service Robotics  
An overview of the techniques used to successfully solve the problem in an autonomous way is provided.  ...  As a first experimental validation of the complete system, a Search & Recovery problem is addressed, consisting of finding and recovering a flight data recorder placed at an unknown position at the bottom  ...  Affine homographies with only four degrees of freedom (lateral translation, yaw, and scale) are used.  ... 
doi:10.1007/s11370-011-0101-z fatcat:hl6ak6pdhrfbjdwxsfj2fca3de

Underwater 3D structures as semantic landmarks in SONAR mapping

Thomas Guerneve, Kartic Subr, Yvan Petillot
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
First we recognise objects using an efficient, rotation-invariant 2D descriptor combined with a histogram-based method.  ...  Then, we determine pose using a 6 degree-of-freedom registration of the 3D object to the local scene using a fast 2D correlation which is refined with an iterative closest point (ICP) -based method.  ...  First we recognise objects using an efficient, rotation-invariant 2D descriptor combined with a histogram-based method.  ... 
doi:10.1109/iros.2017.8202215 dblp:conf/iros/GuerneveSP17 fatcat:jz6nfxk6pvgxzmf3ftwe6r5tu4

Model Predictive Control for Underwater Robots in Ocean Waves

Daniel C. Fernandez, Geoffrey A. Hollinger
2017 IEEE Robotics and Automation Letters  
This thesis proposes a method using Model Predictive Control (MPC) to predict and counteract future disturbances from an ocean wave field.  ...  Wave data from deployed ocean buoys is used to construct the simulated wave field. The MPC state estimator is used to optimize a set of control actions by gradient descent along a prediction horizon.  ...  The method is also experimented on an optical stereo multi-view seafloor reconstruction.  ... 
doi:10.1109/lra.2016.2531792 dblp:journals/ral/FernandezH17 fatcat:zg4ksypeljdxnflyzdsbw53faa

Cutting the Umbilical: New Technological Perspectives in Benthic Deep-Sea Research

Angelika Brandt, Julian Gutt, Marc Hildebrandt, Jan Pawlowski, Jakob Schwendner, Thomas Soltwedel, Laurenz Thomsen
2016 Journal of Marine Science and Engineering  
gear using an epibenthic sledge with a cod end of 300 µm, yielding a much higher number of macrofauna than previously reported from hadal depths.  ...  However, much of the research gear used for biological sampling, especially in the deep-sea, is outdated and dependent on wired operations.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/jmse4020036 fatcat:q2nozpb2orbixhgoqz7emitxoy

Integrated Methodological Approach for the Documentation of Marine Priority Habitats and Submerged Antiquities: Examples from the Saronic Gulf, Greece

Nikos Georgiou, Xenophon Dimas, George Papatheodorou
2021 Sustainability  
To achieve this, we used a downscale methodological approach of increasing spatial resolution based on three main methodological axes: (i) desk-based research, (ii) marine geophysics/seafloor classification  ...  The methodology proposed, which combines existing and new techniques, proved successful in detecting and mapping the MPH and UCH in detail, while it compiled the information necessary for the establishment  ...  contribution to the manuscript; Elias Fakiris, Dimitris Christodoulou, Maria Geraga, and George Ferentinos for their valuable help in the data acquisition; Kostantinos Merkouris for the interpretation of  ... 
doi:10.3390/su132112327 fatcat:si5ehw3gxngojit5ffpqlqye5m

Simultaneous Localization and Mapping in Marine Environments [chapter]

Maurice F. Fallon, Hordur Johannsson, Michael Kaess, John Folkesson, Hunter McClelland, Brendan J. Englot, Franz S. Hover, John J. Leonard
2012 Marine Robot Autonomy  
In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as  ...  well as its perception of the environment.  ...  Ultrashort baseline (USBL) navigation [48] is an alternative method which is typically used for tracking an underwater vehicle's position from a surface ship.  ... 
doi:10.1007/978-1-4614-5659-9_8 fatcat:fgroqbxmkje6bcncmfstn72cwe
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