Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function

2018 ◽  
Vol 30 (2) ◽  
pp. 248-256 ◽  
Author(s):  
Shinsuke Yasukawa ◽  
Jonghyun Ahn ◽  
Yuya Nishida ◽  
Takashi Sonoda ◽  
Kazuo Ishii ◽  
...  
Keyword(s):  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Image Acquisition ◽  
Underwater Vehicle ◽  
Sampling Function ◽  
Software Modules ◽  
Preparation Mode ◽  
Time Required ◽  
Mode Tm

We developed a vision system for an autonomous underwater robot with a benthos sampling function, specifically sampling-autonomous underwater vehicle (AUV). The sampling-AUV includes the following five modes: preparation mode (PM), observation mode (OM), return mode (RM), tracking mode (TM), and sampling mode (SM). To accomplish the mission objective, the proposed vision system comprises software modules for image acquisition, image enhancement, object detection, image selection, and object tracking. The camera in the proposed system acquires images in intervals of five seconds during OM and RM, and in intervals of one second during TM. The system completes all processing stages in the time required for image acquisition by employing high-speed algorithms. We verified the effective operation of the proposed system in a pool.

Integration of a stereo vision system into an autonomous underwater vehicle for pipe manipulation tasks

2017 ◽  
Vol 58 ◽  
pp. 560-571 ◽  
Author(s):  
Dario Lodi Rizzini ◽  
Fabjan Kallasi ◽  
Jacopo Aleotti ◽  
Fabio Oleari ◽  
Stefano Caselli
Keyword(s):  
Stereo Vision ◽  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Underwater Vehicle ◽  
Stereo Vision System

Design of Novel Shaftless Pump-Jet Propulsor for Multi-Purpose Long-Range and High-Speed Autonomous Underwater Vehicle

2016 ◽  
Vol 52 (7) ◽  
pp. 1-4 ◽  
Author(s):  
Yang Shen ◽  
Pengfei Hu ◽  
Shuanbao Jin ◽  
Yingsan Wei ◽  
Rensheng Lan ◽  
...  
Keyword(s):  
Long Range ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

The Visual Information Derived From the Stereo Camera System Mounted on the Underwater Vehicle

2010 ◽  
Author(s):  
Shojiro Ishibashi ◽  
Hiroshi Yoshida ◽  
Tadahiro Hyakudome
Keyword(s):  
Optical Sensors ◽  
Visual Information ◽  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Remotely Operated Vehicle ◽  
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.

scholarly journals Using a High-Speed Mini-PC to Control an Autonomous Underwater Vehicle

2019 ◽  
Vol 7 (3) ◽  
pp. 116-128
Author(s):  
Ali. Jebelli ◽  
Mustapha C.E. Yagoub ◽  
Balbir S. Dhillon
Keyword(s):  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

A Compact Autonomous Underwater Vehicle With Cephalopod-Inspired Propulsion

2016 ◽  
Vol 50 (5) ◽  
pp. 88-101 ◽  
Author(s):  
Zhuoyuan Song ◽  
Cameron Mazzola ◽  
Eric Schwartz ◽  
Ruirong Chen ◽  
Julian Finlaw ◽  
...  
Keyword(s):  
Embedded System ◽  
Communication System ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Cost Effective ◽  
Underwater Vehicle ◽  
Vehicle Design ◽  
The Novel ◽  
Processing Power ◽  
High Speed Data

AbstractIn this paper, a bioinspired, compact, cost-effective autonomous underwater vehicle system is presented. Designed to operate in a heterogeneous, multivehicle collaboration hierarchy, the presented vehicle design features 3D printing technology to enable fast fabrication with a complex internal structure. Similar to a previous vehicle prototype, this system generates propulsive forces by expelling unsteady, pulsed jets, inspired by the locomotion of cephalopods and jellyfish. The novel thrusters enable the vehicle to be fully actuated in horizontal plane motions, without sacrificing the low-forward-drag, slender vehicle profile. By successively ingesting water and expelling finite water jets, periodic actuation forces are generated at all possible vehicle velocities, eliminating the need for control surfaces used in many conventional underwater vehicle designs. A semiactive buoyancy control system, inspired by the nautilus, adjusts the vehicle depth by passively allowing water flowing into and actively expelling water out of an internal bladder. A compact embedded system is developed to achieve the control and sensing capabilities necessary for multiagent interactions with the minimum required processing power and at a low energy cost. The new vehicle design also showcases an underwater optical communication system for short-range, high-speed data transmission, supplementing the conventional acoustic communication system. Experimental results show that, with the thruster motors powered at a 60% duty-cycle, the new vehicle is able to achieve a 1/4 zero-radius turn in 3.5 s and one-body-width sway translation in 2.5 s.

Acoustic Data Transfer Limits Using an Underwater Vehicle in Very Shallow Water

2004 ◽  
Author(s):  
William J. Marr ◽  
Anthony J. Healey
Keyword(s):  
Shallow Water ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Data Transfer ◽  
Autonomous Underwater Vehicles ◽  
Water Environment ◽  
Underwater Vehicle ◽  
High Rate ◽  
Multiple Channel ◽  
Acoustic Data

Advances in Autonomous Underwater Vehicles (AUVs) using acoustic communications to transfer relatively high rate downloads of mission information are crucial to future Navy objectives, particularly in Very Shallow Water Mine Countermeasures (VSW MCM). Present understanding is primarily based on fixed node experiments rather than quantified by vehicles working in the real environment. This paper reports on the demonstrated limits of high speed asymmetric acoustic data transfer using an AUV in an adverse very shallow water environment. A comprehensive series of studies in multiple channel geometries was completed using a “state of the art” commercially available modem system installed on the NPS ARIES autonomous underwater vehicle. The maximum operating range for effective high speed data transfer in very shallow water from a dynamic AUV with all integrated systems active was about 300 meters in the horizontal plane with nearly 100% reliability, at bit rates up to a maximum of 800 bits/second.

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