scholarly journals Pose estimation for the case of prolonged under-ice based AUV

2021 ◽  
Vol 2131 (3) ◽  
pp. 032068
Author(s):  
D Frolov ◽  
S Polovko
Keyword(s):  
Mathematical Modeling ◽  
Pose Estimation ◽  
Deep Water ◽  
Relative Position ◽  
Image Synthesis ◽  
Underwater Vehicle ◽  
Positioning System ◽  
System Of Equations ◽  
Technological Operation ◽  
Position Determination

Abstract The technological operation of AUV docking is considered. An approach to its solution and modeling is proposed. A system for determining the relative position based on cameras and active-light markers is described. Active markers are offered to improve detection in dark deep water. A system of equations for modeling the dynamics of an underwater vehicle is described and a complete mathematical modeling of the whole pipeline of the positioning system is performed: image synthesis based on scene geometry, position determination based on the solution of the PnP problem, generating control based on synthesized measurements and modelling of the corresponding movement of the AUV. The presented model can be used to test various scenarios for the execution of a docking operation.

scholarly journals Systematization and mathematical modeling of classification features of forest rakes

2021 ◽  
Vol 875 (1) ◽  
pp. 012036
Author(s):  
A Platonov ◽  
S Zimarin
Keyword(s):  
Mathematical Modeling ◽  
Transport Infrastructure ◽  
System Of Equations ◽  
Technological Operation ◽  
Boundary Values ◽  
Manufacturing Enterprises

Abstract With proper maintenance of many territories a technological operation of collecting and raking up chopped residues of undesirable tree and shrub vegetation is often performed. At the same time, despite the variety of mechanization tools used, their classification is currently difficult. The purpose of the research was to develop a classification of technical means for collecting and raking chopped residues with the justification of their name and rational definition. Based on the analysis of more than 500 models the authors of the research recommended to designate the considered technical means as “Forest Rake” and a corresponding definition has been formulated. The authors of the carried out the classification of forest rakes, a system of equations has been developed that describes the position of the boundaries of the characteristic zones of the distribution of the working width of the forest rake, the boundary values of a number of parameters are shown, the criteria for the density of the teeth and the specific width of the rake are proposed, the values of these criteria are given. The results of the work can be used by manufacturing enterprises engaged in the maintenance and operation of transport infrastructure facilities.

scholarly journals The Autonomous Underwater Vehicle Integrated with the Unmanned Surface Vessel Mapping the Southern Ionian Sea. The Winning Technology Solution of the Shell Ocean Discovery XPRIZE

2020 ◽  
Vol 12 (8) ◽  
pp. 1344 ◽  
Author(s):  
Karolina Zwolak ◽  
Rochelle Wigley ◽  
Aileen Bohan ◽  
Yulia Zarayskaya ◽  
Evgenia Bazhenova ◽  
...  
Keyword(s):  
Deep Water ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Unmanned Vehicles ◽  
Ionian Sea ◽  
Automatic Data ◽  
Multibeam Echosounder ◽  
Synthetic Aperture Sonar ◽  
Unmanned Surface Vessel ◽  
Surface Vessel

The methods of data collection, processing, and assessment of the quality of the results of a survey conducted at the Southern Ionian Sea off the Messinian Peninsula, Greece are presented. Data were collected by the GEBCO-Nippon Foundation Alumni Team, competing in the Shell Ocean Discovery XPRIZE, during the Final Round of the competition. Data acquisition was conducted by the means of unmanned vehicles only. The mapping system was composed of a single deep water AUV (Autonomous Underwater Vehicle), equipped with a high-resolution synthetic aperture sonar HISAS 1032 and multibeam echosounder EM 2040, partnered with a USV (Unmanned Surface Vessel). The USV provided positioning data as well as mapping the seafloor from the surface, using a hull-mounted multibeam echosounder EM 304. Bathymetry and imagery data were collected for 24 h and then processed for 48 h, with the extensive use of cloud technology and automatic data processing. Finally, all datasets were combined to generate a 5-m resolution bathymetric surface, as an example of the deep-water mapping capabilities of the unmanned vehicles’ cooperation and their sensors’ integration.

Research on Signal Aliasing in Long Baseline Positioning System

2014 ◽  
Vol 981 ◽  
pp. 435-439
Author(s):  
Jun Cao ◽  
Da Jun Sun ◽  
Dian Lun Zhang
Keyword(s):  
Signal Detection ◽  
Underwater Vehicle ◽  
Positioning System ◽  
Positioning Accuracy ◽  
Long Baseline ◽  
Simulation Results ◽  
Signal Overlap

In the long baseline positioning system, underwater vehicle use transponder reply signals for positioning and navigation, reply signals aliasing is the main reason of inaccurate detection and instability detection. This paper aimed at the problem and research on signal aliasing in long baseline positioning system, theoretical and simulation results show that: Both overlap degree and overlap energy have a certain distribution. The size of signal aliasing area associated with signal overlap degree. The number of signal aliasing is different in different aliasing area. Signal aliasing will affect signal detection, and reduce the long baseline positioning accuracy.

Time-Domain Dynamic Analysis for Dynamic Positioning System of Deepwater Semi-Submersible

2012 ◽  
Vol 204-208 ◽  
pp. 4518-4522 ◽  
Author(s):  
Li Ping Sun ◽  
Shu Long Cai ◽  
Jing Chen
Keyword(s):  
Dynamic Analysis ◽  
Deep Water ◽  
Time Domain ◽  
Pid Control ◽  
Oil And Gas ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Dynamic Positioning System ◽  
The Time Domain ◽  
Thrust Allocation

Semi-submersible plays an important role in ocean oil and gas exploitation. This paper carried out some researches for the dynamic positioning system (DPS) of a deep water semi- submersible. Mathematic modal was made, and a special program was created with M-language for the time-domain dynamic analysis of the dynamic positioning system of the deep water semi-submersible, on basis of the mathematic modal. PID control strategy, kalman filtering theory and optimal thrust allocation method were used in the analysis. Simulation result indicated the DPS of this platform is safe and efficient.

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