Space And Underwater Robotics
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The CDC is the premier conference dedicated to the advancement of the theory and practice of systems and control. The CDC annually brings together an international community of researchers and practitioners in the field of automatic control to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, automatic control, and related areas.
The International Conference on Robotics and Automation (ICRA) is the IEEE Robotics and Automation Society’s biggest conference and one of the leading international forums for robotics researchers to present their work.
The scope of the 2020 IEEE/ASME AIM includes the following topics: Actuators, Automotive Systems, Bioengineering, Data Storage Systems, Electronic Packaging, Fault Diagnosis, Human-Machine Interfaces, Industry Applications, Information Technology, Intelligent Systems, Machine Vision, Manufacturing, Micro-Electro-Mechanical Systems, Micro/Nano Technology, Modeling and Design, System Identification and Adaptive Control, Motion Control, Vibration and Noise Control, Neural and Fuzzy Control, Opto-Electronic Systems, Optomechatronics, Prototyping, Real-Time and Hardware-in-the-Loop Simulation, Robotics, Sensors, System Integration, Transportation Systems, Smart Materials and Structures, Energy Harvesting and other frontier fields.
IECON is focusing on industrial and manufacturing theory and applications of electronics, controls, communications, instrumentation and computational intelligence.
OCEANS 2020 - SINGAPORE
An OCEANS conference is a major forum for scientists, engineers, and end-users throughout the world to present and discuss the latest research results, ideas, developments, and applications in all areas of oceanic science and engineering. Each conference has a specific theme chosen by the conference technical program committee. All papers presented at the conference are subsequently archived in the IEEE Xplore online database. The OCEANS conference comprises a scientific program with oral and poster presentations, and a state of the art exhibition in the field of ocean engineering and marine technology. In addition, each conference can have tutorials, workshops, panel discussions, technical tours, awards ceremonies, receptions, and other professional and social activities.
The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...
The IEEE Transactions on Automation Sciences and Engineering (T-ASE) publishes fundamental papers on Automation, emphasizing scientific results that advance efficiency, quality, productivity, and reliability. T-ASE encourages interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, operations research, and other fields. We welcome results relevant to industries such as agriculture, biotechnology, healthcare, home automation, maintenance, manufacturing, pharmaceuticals, retail, ...
Serves as a compendium for papers on the technological advances in control engineering and as an archival publication which will bridge the gap between theory and practice. Papers will highlight the latest knowledge, exploratory developments, and practical applications in all aspects of the technology needed to implement control systems from analysis and design through simulation and hardware.
Theory and applications of industrial electronics and control instrumentation science and engineering, including microprocessor control systems, high-power controls, process control, programmable controllers, numerical and program control systems, flow meters, and identification systems.
Applications-oriented material in the field of instrumentation and measurement.
IEEE Spectrum, 1990
The findings of a study sponsored by the National Science Foundation and the National Aeronautics and Space Administration's Automation and Robotics Program, prepared for the US government's program evaluating Japanese technology, are summarized. They reveal that the Japanese government, industry, and university leaders have embarked on cooperative projects to develop next-generation robots for space. The goals are to minimize the ...
2008 10th International Conference on Control, Automation, Robotics and Vision, 2008
Modern developments in the fields of control, sensing, and communication have made increasingly complex and dedicated underwater robot systems a reality. Used in a highly hazardous and unknown environment, the autonomy and dynamics of the robots is the key to mission success. Though the dynamics of underwater vehicle system is highly coupled and non linear in nature, decoupled control system ...
Proceedings of the 2002 Interntional Symposium on Underwater Technology (Cat. No.02EX556), 2002
Inherent to its geographical location, Korea has long been interested in the ocean. As for underwater robotics, several vehicles have been made in Korea since the 1980s. Towards the 21/sup st/ century, the Korean government has established a basic plan for ocean development and preservation named by Ocean Korea 21. The plan contains various R&D programs for ocean environment measurement, ...
IEEE Robotics & Automation Magazine, 2018
Underwater manipulation is a challenging problem. The state-of-the-art technology is dominated by remotely operated vehicles (ROVs). ROV operations typically require an offshore crew consisting of, at minimum, an intendant (or supervisor), an operator, and a navigator. This crew must often be doubled or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. ...
Proceedings of OCEANS 2005 MTS/IEEE, 2005
Various kinds of robots have been developed parallel with progress of computer and the operations with robots in the extreme environment such as rescue, space and ocean are getting practical solutions. The underwater robots are expected as one of solutions for underwater activities i.e., maintenance of underwater structures, observations, scientific research, and investigated the efficiency during recent decades. Especially, the ...
Hands-On with the Snorkel Mask Camera
IROS TV 2019- Khalifa University Robotics Institute- Khalifa University of Science & Technology
IROS TV 2019-Collaborative Robotics & Intelligent Systems Institute CoRIS at Oregon State University
Robotics History: Narratives and Networks Oral Histories:Gerd Hirzinger
IROS TV 2019-STAR LAB at the University of Surrey Space Technology for Autonomous systems & Robotics
Robotics History: Narratives and Networks Oral Histories: Illah Nourbakhsh
Robotics History: Narratives and Networks Oral Histories:Joel Burdick
Robotics History: Narratives and Networks Oral Histories:Rich Volpe
Robotics History: Narratives and Networks Oral Histories: Michael Sims
Robotics History: Narratives and Networks Oral Histories: Masaru Uchiyama
IROS TV 2019- Macau- Episode 2- Robots Connecting People
Robotics History: Narratives and Networks Oral Histories: Rob Ambrose
IEEE EMBS Unconference on Rehabilitation Robotics
Robotics History: Narratives and Networks Oral Histories: Carl Ruoff
IROS 2014 Plenary: Andrew Davison
A Robot to Mine the Moon
Control of a Fully-Actuated Airship for Satellite Emulation
Robotics History: Narratives and Networks Oral Histories:Ron Arkin
IROS 2014 Plenary: Todd Kuiken
The findings of a study sponsored by the National Science Foundation and the National Aeronautics and Space Administration's Automation and Robotics Program, prepared for the US government's program evaluating Japanese technology, are summarized. They reveal that the Japanese government, industry, and university leaders have embarked on cooperative projects to develop next-generation robots for space. The goals are to minimize the enormous expense of manned space operations and to spur technology by developing a range of automated machines. Japanese robots are now employed in construction projects on land and underwater, providing experience that may be applicable in space. An overview is given of notable developments to date.<<ETX>>
Modern developments in the fields of control, sensing, and communication have made increasingly complex and dedicated underwater robot systems a reality. Used in a highly hazardous and unknown environment, the autonomy and dynamics of the robots is the key to mission success. Though the dynamics of underwater vehicle system is highly coupled and non linear in nature, decoupled control system strategy is widely used for practical applications. As autonomous underwater vehicles need intelligent control systems, it is necessary to develop control systems that really take into account the coupled and non- linear characteristics of the system. In this paper, we propose a control system with a nonlinear control strategy that takes into account the above factors. So far, AUV dynamics has often been derived under various assumptions on the motion of the vehicle. However, such assumptions may induce large modelling errors and may cause severe control problems in many practical applications. We propose to use both Lyapunov and state space back stepping based non linear control to overcome the modelling errors. The strategy will be tested through simulations for a flat-fish type AUV. Basic controller design and the simulation results will be discussed in the paper. A comparison of the results for conventional method and the proposed method will also be presented.
Inherent to its geographical location, Korea has long been interested in the ocean. As for underwater robotics, several vehicles have been made in Korea since the 1980s. Towards the 21/sup st/ century, the Korean government has established a basic plan for ocean development and preservation named by Ocean Korea 21. The plan contains various R&D programs for ocean environment measurement, ocean resources exploitation and ocean space utilization, in which a variety of underwater vehicles is involved. This paper introduces previous, present and future research on underwater robotic vehicles in Korea.
Underwater manipulation is a challenging problem. The state-of-the-art technology is dominated by remotely operated vehicles (ROVs). ROV operations typically require an offshore crew consisting of, at minimum, an intendant (or supervisor), an operator, and a navigator. This crew must often be doubled or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. Furthermore, underwater intervention missions are still dominated by a significant amount of lowlevel, manual control of the manipulator(s) and of the vehicle itself. While there is a significant amount of research on autonomous underwater vehicles (AUVs) in general and fieldable solutions already exist for inspection and exploration missions, possibilities remain for adding intelligent autonomous functions for interventions.
Various kinds of robots have been developed parallel with progress of computer and the operations with robots in the extreme environment such as rescue, space and ocean are getting practical solutions. The underwater robots are expected as one of solutions for underwater activities i.e., maintenance of underwater structures, observations, scientific research, and investigated the efficiency during recent decades. Especially, the underwater structures are getting large-scale and large-depth. In order to do safe and efficient works, the works are desired to be carried out automatically. In these works, underwater images are one of the effective information, and also useful for various applications, including undersea exploration navigation, wreckage visualization. This paper describes development of autonomous underwater vehicle for observation of underwater environment.
This work focuses on the development of an autonomous multi-robot strategy to explore unknown underwater environments by collecting data about water properties and the existence of obstacles. Unknown underwater spaces are hostile environments whose exploration is often a complex, high-risk undertaking. The use of human divers or manned vehicles for these scenarios involves significant risk and enormous overheads. The systems currently employed for such tasks usually rely on remotely operated vehicles (ROVs), which are controlled by a human operator. The problems associated with this approach include the considerable costs of hiring a highly trained operator, the required presence of a manned vehicle in close proximity to the ROV, and the lag in communication often experienced between the operator and the ROV. This work proposes the use of autonomous robots, as opposed to human divers, which would enable costs to be substantially reduced. Likewise, a distributed swarm approach would allow the environment to be explored more rapidly and more efficiently than when using a single robot. The swarm strategy described in this work is based on Robotic Darwinian Particle Swarm Optimization (RDPSO), which was initially designed for planar robotic ground applications. This is the first study to generalize the RPSO algorithm for 3D applications, focusing on underwater robotics with the aim of providing a higher exploration speed and improved robustness to individual failures when compared to traditional single ROV approaches.
The consideration of long-term autonomous instrumentation for ocean research applications is now trying to be answered by developing The concept of the Underwater glider. Combining the capabilities of AUV (self-propelled vehicle), which is very good in maneuverability, and underwater glider with their long endurance platform promising advantageous feature. In order to gain some amount of space for carrying many different subsystems, the capacity of payload must be reduced. In addition, there is some additional drag and interference in the optimum cruise efficiency that may cause by external appendages, payload and navigation systems such wings, propeller, etc. Continuing with this concept, prototype of an underwater glider has been designed and built to prove its feasibility and capabilities in real scale to be used for various offshore research. Experiment at the pool of a depth of 5 meters has shown a good result with full functionality of ballast and buoyancy engine. The combination of both systems proves that propelled vehicle forward in a pool as well as open sea.
In this paper, trajectory generation of a micro underwater robot in 3D space is discussed considering obstacles and applying a new and optimum potential function. For this purpose, an algorithm which is based on potential function is proposed. Moreover, in order to pass a planned trajectory, a feedback linearization controller is used to guide the robot. By the use of this method, an underwater robot would be able to predict and pass a safe trajectory by awareness of its own and obstacle's positions. Dynamic equations of 6 DOFs for an underwater robot are proposed and trajectory optimization of a particle considering obstacles in trying to attain a fixed or moving target in 3D coordinate space is discussed. The common potential functions are modified in order to solve the problems of inertial and cycling trap and to increase chance of implementation. Afterward, the proposed optimization method is implemented on robot dynamic model. To this end, the coordinate space is meshed with small cubes. Also, in order to control the robot, feedback linearization controller is used. It is shown that the robot would appropriately reach the planned target by this method.
Underwater gliders have been conceived more than 20 years ago and as they are building up on concepts and technologies that were developed used for ARGO float systems have reached a maturity that give them a specific role in observing programs [Barker]. Why then starting a new design? It is exactly the success of the current glider systems that lead to revisiting the basic design and exploring alternative vehicle concepts. Current glider designs are suffering from limited scientific payload capacity which is a good motivation in its own right. Furthermore employing more energy efficient, low drag designs would vastly extend the application range. With the MOTH design study we were picking up a concept that is now extensively used in unmanned flight vehicles (drones), the blended wing design. Earlier attempts in that direction have proven to be quite successful [Jenkins]. In particular higher horizontal speeds could be reached and with the blended wing shape offering new payload capabilities other sensor types (sonar systems) will be integrated. Making use of pre-existing knowledge and experience the project will be structured along the lines of a systems engineering approach. The scientific rationale is based on the needs of quantifying the particle flux in the upper part of the water column in regions of interest, like the Northwest African margin. Here MARUM has already a long term record of flux studies so that the anticipated glider missions can be validated against this data set. The scientific payload is defined based on this observation scenario which implies small flight angles and higher horizontal speeds (up to 1 kn). The endurance will lies in the range of days to a few weeks so that typical the glider system will be deployed and recovered during a single cruise. A particular emphasis will be given to assessing and enhancing the operational reliability of the system. This includes both the hardware and the software side of the system which implies that well defined testing procedures have to be described. During field tests it is planned to make use of the WAVEGLIDER (Liquid Robotics) that offers unique opportunities to track the trajectory of the glider and to set up a communication link. In this presentation the basic system design will be presented to illustrate on how to make best use of the hull shape by employing new sensor integration concepts. Fabrication aspects together with a first sketch on the control architecture will be addressed as well.
Communication mechanism is a major design concern for a robotic swarm, as robots exchange data frequently in order to achieve a collective behavior. Communication using radio frequency (RF) is common if the swarm is land based, however, if the swarm operates underwater then a different form of communication mechanism is needed. In this paper, we discuss the implementation of a short-range communication mechanism based on free space optics for a swarm of robot operating underwater. In order to optimize the communication throughput, a multi-channel design is adopted, therefore, a robot can broadcast data to its peers simultaneously and this is based on a processor that supports parallel computing. Our experimental results show that using a 50 mW semiconductor laser, a transfer rate of 110 Kbps or higher can be achieved; however, transmission quality depends on the clarity and the conditions of the environment.
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