Marine Electromagnetic Sounding on Submarine Massive Sulphides using Remotely Operated Vehicle (ROV) and Autonomous Underwater Vehicle (AUV).

Vision System ◽

Underwater Vehicle ◽

Underwater Vehicles ◽

Camera System ◽

Stereo Camera ◽

Camera Systems

The visual information is very important for the operation of an underwater vehicle such as a manned vehicle and a remotely operated vehicle (ROV). And it will be also essential for functions which should be applied to an autonomous underwater vehicle (AUV) for the next generation. Generally, it is got by optical sensors, and most underwater vehicles are equipped with various types of them. Above all, camera systems are applied as multiple units to the underwater vehicles. And they can construct a stereo camera system. In this paper, some new functions, which provide some type of visual information derived by the stereo vision system, are described. And methods to apply the visual information to the underwater vehicle and their utility are confirmed.

Visual Servoing for Underwater Vehicle Using Dual-Eyes Evolutionary Real-Time Pose Tracking

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2016.p0543 ◽

2016 ◽

Vol 28 (4) ◽

pp. 543-558 ◽

Cited By ~ 15

Author(s):

Myo Myint ◽

◽

Kenta Yonemori ◽

Akira Yanou ◽

Khin Nwe Lwin ◽

...

Keyword(s):

Real Time ◽

Visual Servoing ◽

Underwater Vehicle ◽

Target Object ◽

Test Bed ◽

Pose Tracking ◽

Partially Occluded ◽

Recursive Evaluation

[abstFig src='/00280004/12.jpg' width='300' text='ROV with dual-eyes cameras and 3D marker' ] Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

Exploring the Deepest Depths: Preliminary Design of a Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments

Marine Technology Society Journal ◽

10.4031/002533204787522776 ◽

2004 ◽

Vol 38 (2) ◽

pp. 92-101 ◽

Cited By ~ 18

Author(s):

Andrew D. Bowen ◽

Dana R. Yoerger ◽

Louis L. Whitcomb ◽

Daniel J. Fornari

Keyword(s):

Fiber Optic ◽

Extreme Environments ◽

Underwater Vehicle ◽

Global Science ◽

Area Survey ◽

High Bandwidth ◽

Manipulator Arm ◽

Scientific Survey

This paper describes a new project to build an operational underwater vehicle that can perform scientific survey and sampling to the full depth of the ocean (11,000 meters). The vehicle, called a hybrid remotely operated vehicle (HROV), will operate in two different modes. For broad area survey, the vehicle will operate untethered as a autonomous underwater vehicle (AUV) capable of exploring and mapping the seafloor with sonars and cameras. After targets of interest have been found, the vehicle will be converted at-sea to become a remotely operated vehicle (ROV) that will enable close up imaging and sampling. The ROV configuration will incorporate a lightweight fiber optic tether to the surface for high bandwidth real-time video and data telemetry to the surface to enable high-quality teleoperation, additional cameras and lights, a manipulator arm, and sampling gear. This paper outlines the scientific motivation for the project as well as the feasibility of our design concept. Analysis of the fiber optic cable shows our approach to be practical even with fairly extreme current profiles. An overall approach to the vehicle design is also presented, including options for pressure housings and buoyancy materials.

Journey to the Challenger Deep: 50 Years Later With the Nereus Hybrid Remotely Operated Vehicle

Marine Technology Society Journal ◽

10.4031/mtsj.43.5.26 ◽

2009 ◽

Vol 43 (5) ◽

pp. 65-76 ◽

Cited By ~ 23

Author(s):

Barbara Fletcher ◽

Andrew Bowen ◽

Dana R. Yoerger ◽

Louis L. Whitcomb

Keyword(s):

Underwater Vehicle ◽

Woods Hole Oceanographic Institution ◽

Broad Area ◽

Johns Hopkins University ◽

Area Survey ◽

High Bandwidth ◽

Manipulator Arm ◽

Challenger Deep

AbstractThe hybrid remotely operated vehicle Nereus, developed by the Woods Hole Oceanographic Institution in collaboration with the Space and Naval Warfare Systems Center Pacific and Johns Hopkins University, is designed to provide a new level of access to a maximum depth of 11,000 m. Nereus operates in two different modes. The vehicle can operate untethered as an autonomous underwater vehicle for broad area survey, capable of exploring and mapping the seafloor with sonars, cameras, and other onboard sensors. Nereus can be converted at sea to become a remotely operated vehicle (ROV) to enable close-up imaging and sampling. The ROV configuration incorporates a lightweight fiber-optic tether to the surface for high-bandwidth real-time video and data telemetry to the surface to enable high-quality teleoperation, additional cameras and lights, manipulator arm, and sampling gear. Nereus underwent sea trials in May and June of 2009 during which it completed eight dives, including two dives to more than 10,900 m in the Challenger Deep of the Mariana Trench with a total bottom time in excess of 12 h.

Robotic Fish

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2014.p0391 ◽

2014 ◽

Vol 26 (3) ◽

pp. 391-393

Author(s):

Yogo Takada ◽

◽

Keisuke Koyama ◽

Takahiro Usami

Keyword(s):

Fluid Dynamics ◽

Computational Fluid Dynamics ◽

Underwater Vehicle ◽

Robotic Fish ◽

Gate Arrays ◽

Propulsion Performance ◽

Entertainment Robot ◽

Computational Fluid Dynamics Cfd

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/13.jpg"" width=""300"" />Structure of BREAM </span></div> Based on our robotic fish studies since 2003, this paper introduces a FPGA offline control underwater searcher (FOCUS) and a bream robot equipped with advanced mechanism (BREAM). The performance of the first FOCUS prototype, built in 2011, is now being improved. FOCUS has 2 cameras and fieldprogrammable gate arrays (FPGAs) with high arithmetic processing capabilities. The appearance of the FOCUS is so cute. The two FOCUS types now available are an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV). BREAM, in contrast, is an entertainment robot prototype designed for Asutamuland Tokushima exhibition. BREAM has four joints based on analytical computational fluid dynamics (CFD) results showing that robotic fish with multiple joints achieve better propulsion performance than that with single joint. Two of the four joints are used for propulsion and two are used for turning the prototype. RC-FOCUS is also exhibited at Asutamuland Tokushima, together with BREAM. </span>