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Xplore Articles related to Unmanned Underwater Vehicles

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A PID controller for the underwater robot station-keeping

2016 IEEE 14th International Conference on Industrial Informatics (INDIN), 2016

In this paper, a PID controller for the underwater robot station-keeping has presented. The underwater robots are very important for the underwater surveillance. The objective of this study is to describe the development of a depth control for underwater robot. For the posture control of the underwater robot, we employ embedded system to design and develop the prototype of the ...


Design of an ocean current roaming underwater robot

2017 4th International Conference on Systems and Informatics (ICSAI), 2017

This paper presents an ocean current roaming underwater robot combined with ocean current drive power generation and solar electrical energy generation. It will realize long-distance autonomous operational test which can meet the needs of ocean current detection and has wide application prospect. To simulate and analyze the flow field of the ocean current roaming underwater robot, the computational fluid dynamics ...


Kinematic model of underwater vehicle

2017 International Conference on Green Energy Conversion Systems (GECS), 2017

An autonomous underwater vehicle is a robotic device that circulates in water through a propulsion system, controlled by an on-board computer. This article presents a general view of the autonomous submarine vehicle, the usefulness of which is presented in different fields of application, and specifically the field of research. We also preserve the different types of underwater robots, and finally ...


Online dead body detection experiment with an unmanned underwater vehicle

2018 26th Signal Processing and Communications Applications Conference (SIU), 2018

In this study, real-time online body detection under water was conducted using an unmanned underwater observation tool. According to the underwater position of the vehicle, data from the vehicle camera is provided to identify different body parts of a body in a real-time video stream. Here we present an approach for underwater human body detection based on the use of ...


Underwater robot exploration and identification using dual imaging sonar : Basin test

2017 IEEE Underwater Technology (UT), 2017

For the underwater search task, imaging sonar is very useful equipment to obtain the visual data of the underwater environment. Generally, the search range of imaging sonar depends on the frequency of the sound. High-frequency imaging sonar is suitable to search near area within 5m and low-frequency is able to search the area between 5m to 100m. In this paper, ...


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Educational Resources on Unmanned Underwater Vehicles

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IEEE-USA E-Books

  • A PID controller for the underwater robot station-keeping

    In this paper, a PID controller for the underwater robot station-keeping has presented. The underwater robots are very important for the underwater surveillance. The objective of this study is to describe the development of a depth control for underwater robot. For the posture control of the underwater robot, we employ embedded system to design and develop the prototype of the thruster control system. The hardware architecture of the underwater robot is composed the ground PC, DC power supply, embedded system, sensor system, and propeller system. The experiment results demonstrate the proposed control system performance.

  • Design of an ocean current roaming underwater robot

    This paper presents an ocean current roaming underwater robot combined with ocean current drive power generation and solar electrical energy generation. It will realize long-distance autonomous operational test which can meet the needs of ocean current detection and has wide application prospect. To simulate and analyze the flow field of the ocean current roaming underwater robot, the computational fluid dynamics method is used in this paper. Analysis showed that the design of the ocean current roaming robot model is feasible and advantageous. Besides the control system of ocean current roaming underwater robot is designed and introduced.

  • Kinematic model of underwater vehicle

    An autonomous underwater vehicle is a robotic device that circulates in water through a propulsion system, controlled by an on-board computer. This article presents a general view of the autonomous submarine vehicle, the usefulness of which is presented in different fields of application, and specifically the field of research. We also preserve the different types of underwater robots, and finally we developed a kinematic model of our robot, this model is a general model of a body governed in space.

  • Online dead body detection experiment with an unmanned underwater vehicle

    In this study, real-time online body detection under water was conducted using an unmanned underwater observation tool. According to the underwater position of the vehicle, data from the vehicle camera is provided to identify different body parts of a body in a real-time video stream. Here we present an approach for underwater human body detection based on the use of highly educated classifiers. The algorithm's performance in real time video shooting of the car is optimized to reduce the false positive rate by aiming to identify a corpse part of each picture frame. According to the results obtained, it was ensured that the corpse parts were successfully detected under changing conditions with incorrect positive perception. Algorithms were developed using the Pyhton program.

  • Underwater robot exploration and identification using dual imaging sonar : Basin test

    For the underwater search task, imaging sonar is very useful equipment to obtain the visual data of the underwater environment. Generally, the search range of imaging sonar depends on the frequency of the sound. High-frequency imaging sonar is suitable to search near area within 5m and low-frequency is able to search the area between 5m to 100m. In this paper, we presents experimental results of landmarks identification using dual imaging sonar for the autonomous underwater robot exploration. The underwater robot explores autonomously and estimates the robot location using inertial sensor data. Artificial landmarks are designed and detected by dual imaging sonar. If the landmark is recognized, it is mapped to the estimated robot map. To verify the suitability of the proposed method, we perform an experiment in basin using the underwater robot, `yShark'.

  • Structure Improvement and Stability for an Amphibious Spherical Robot

    This paper proposed a novel mechanical design method of stability system and structure improvement for the new underwater robot is discussed, and also describes the key technologies and methods in detail of the robot to achieve multiple degrees of freedom. The new robot has ability of adjusting direction and perform specific mission goals. The ANSYS water pressure test and resistance test were performed on the mechanical structure under water intent to evaluate the design rationality of the robot leg and the overall robot. The article also introduced the stability system of the underwater robot and the installation and control method of the servo motors. Finally, the speed and gait stability of the robot underwater and land are analyzed through lots of experiments.

  • Depth Control of Underwater Robots Using Sliding Modes and Gaussian Process Regression

    The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation for hydrodynamic effects. In this work, a new robust control scheme is presented for remotely operated underwater vehicles. In order to meet both robustness and tracking requirements, sliding mode control is combined with Gaussian process regression. The convergence properties of the closed-loop signals are analytically proven. Numerical results confirm the stronger improved performance of the proposed control scheme.

  • The Underwater Recharge Docking System for an Autonomous Underwater Robot Applying Visual Information

    This electronic document is a “live” template and already defines the components of your paper [title, text, heads, etc.] in its style sheet. The understanding of deep seabed should be addressed as the highest priority issue. Therefore Japan Agency for Marine-Earth Science and Technology (JAMSTEC) has been constructing an integrated system in order to survey deep seabed in real time. On the other hand, JAMSTEC has being undertaken another system in order to survey seabed regularly for a long time. In this system, it is assumed that underwater robots survey the seabed autonomously and recharge the electric power wirelessly on the seabed from underwater recharge platforms. Therefore JAMSTEC is now modifying an existing autonomous underwater robot (AUV) as the testbed for this system. Also the first prototype of the underwater recharge platform (URP) has being developed. Since the AUV is required to dock autonomously with the URP, a navigation algorithm applying visual information has being designed. Now the utility and practicality of this system including the navigation algorithm has being verified in simulations and sea trials.

  • Computer Simulation of Group Motion of Underwater Robots

    The software for modeling the group motion of autonomous unmanned underwater vehicles (AUVs) is considered. The possibility of using computer simulation in the creation and testing of AUV motion algorithms is demonstrated. The object model and the algorithm of the created program are described. On the basis of the program it is possible to create training complexes for operators of underwater robotic complexes.

  • Minimum data rate for observability of networked unmanned vehicle with the process disturbance

    In this paper, we consider unmanned underwater vehicles over memoryless, digital communication channels, and address the state estimation problem under the data rate limitation. In particular, we consider the case with the process disturbance, and derive the condition for observability at the extreme data rate. It is shown in our results that, the limited data rate has important effects on state estimation of unmanned underwater vehicles. An illustrative example is given to demonstrate the effectiveness of the proposed scheme.



Standards related to Unmanned Underwater Vehicles

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