Basic requirements for television communications with laser illumination when creating integrated underwater vehicle search systems.

2021 ◽  
Vol 5 ◽  
Author(s):  
V.L. Martynov ◽  
◽  
Yu.G. Ksenofontov ◽  
M.S. Shimanskaya ◽  
E.V. Krechetova ◽  
...  
Keyword(s):  
Search Algorithm ◽  
Underwater Vehicles ◽  
Robotic Systems ◽  
Search Performance ◽  
Underwater Robotics ◽  
Search System ◽  
Optimal Sequence ◽  
Radio Electronic ◽  
The Creation ◽  
Search Systems

The intensive development of autonomous underwater robotic systems is of great importance for the development of the world’s oceans. One of the main problems of using underwater robotic systems is to increase the search performance of underwater vehicles based on the integration of the capabilities of onboard radio-electronic systems for obtaining information in various physical fields. Analyzing the physical basis of the search, including consideration of the environment of its conduct, objects, as well as means of detection, it can be noted that the result of conducting search operations of the same objects in the same water areas for different underwater robotic complexes depends on what means of detection they are equipped with. The presence of a certain composition of technical means will dictate the development of an optimal sequence of actions that make up the search algorithm. The creation of such algorithms in relation to the task of increasing the search potential of underwater robotics will determine the direction of scientific research that ensures the formation of an optimal underwater search system on it. The effective use of search resources justifies the conclusion that the radio-electronic means of underwater vehicles that form the underwater search system, in total, are a set of devices that are functionally combined with each other for its effective implementation. This association is aimed at forming the so-called integrated search system, which provides for the exchange of information between different search tools about all the objects found by them. The article presents the requirements for the creation of integrated search systems, taking into account practical experiments and experience in the design of underwater vehicles capable of implementing an optimal underwater search system based on laser technologies.

On-board electronic telecommunication equipment with laser illumination in integrated search systems of underwater vehicles

2021 ◽  
Vol 4 ◽  
pp. 20-28
Author(s):  
V. L. Martynov ◽  
◽  
I. L. Skripnik ◽  
Y. G. Ksenofontov ◽  
M. S. Shimanskaya ◽  
...  
Keyword(s):  
Search Algorithm ◽  
World Ocean ◽  
Underwater Vehicles ◽  
Optimal System ◽  
Electronic Systems ◽  
Underwater Robotics ◽  
Optimal Sequence ◽  
Radio Electronic ◽  
The Creation ◽  
Search Systems

The intensive development of autonomous underwater robotic complexes is very important for the development of the World Ocean. One of the main problems of using underwater robotic complexes is an increase searching efficiency of underwater devices based on the integration of the capabilities of onboard radio-electronic systems of obtaining information in various physical fields. Analyzing the physical basis of the search, including the consideration of the environment of its conduct, objects, as well as detection tools, it can be noted that the result of the search operations of the same objects in the same water areas for various underwater robotic complexes depends on what means of detection they are equipped. The presence of a certain set of the technical means will specify the development of the optimal sequence of actions of the search algorithm. The creation of such algorithms in relation to the task of increasing the search potential of underwater robotics will determine the direction of the research that ensures the formation of an optimal system of underwater search. Efficient use of search resources substantiates the conclusion that radio-electronic means of submersibles forming the system of underwater search, include the number of devices functionally interconnected for its effective conduct. The specified combination is aimed at the formation of the so-called integrated search system, which provides an exchange of information between different channels of searching devices about all objects detected. The article provides proposals for the creation of integrated search systems taking into account practical experiments and experience in designing underwater vehicles capable to implement the optimal system of underwater search using laser technologies.

Television communications with laser illumination in integrated search systems of underwater robotic complexes

2021 ◽  
Vol 4 ◽  
pp. 7-12
Author(s):  
V.L. Martynov ◽  
◽  
E.V. Krechetova ◽  
M.S. Shimanskaya
Keyword(s):  
Barents Sea ◽  
Visual Observation ◽  
Robotic Systems ◽  
Search Performance ◽  
Vision Systems ◽  
Laser Illumination ◽  
The Barents Sea ◽  
Technical Vision ◽  
Search Systems

One of the important tasks in creating underwater robotic systems is to increase their search performance. Its implementation is based on the integration of the capabilities of hydroacoustic search systems and technical vision systems, in which it is advisable to use laser emitters as a system for highlighting objects of observation in the hydrosphere. The article presents calculations of the potential ranges of visual observation by technical vision systems with laser illuminators of search objects at working depths in the Barents Sea.

A Conceptual Framework for Designing Arctic Underwater Transport Vessels

2021 ◽  
Vol 27 (5) ◽  
pp. 367-377
Author(s):  
Т. M. Grigor’ev ◽  
L. Е. Mamedova
Keyword(s):  
United States ◽  
Conceptual Framework ◽  
Conceptual Design ◽  
The United States ◽  
Underwater Vehicles ◽  
The Arctic ◽  
Arctic Zone ◽  
Shipbuilding Industry ◽  
Sea Transportation ◽  
The Creation

Aim. The presented study is aimed at the development of the underwater transport fleet as an effective tool for maintaining dominance in the Arctic.Tasks. The authors analyze the efficiency of sea transportation in the Arctic; examine and characterize existing vessels in the Arctic zone and the experience of different countries in creating underwater vehicles; determine requirements for underwater transport vessels.Methods. This study develops requirements for the conceptual design of underwater transport vessels that could serve as the basis of an underwater Arctic transport fleet with allowance for existing approaches to designing such vessels.Results. The costs of re-equipping submarines of old design for the creation of underwater transport vessels are preliminarily assessed. A number of objectives for future implementation are described. The influence of the project on the shipbuilding industry is shown.Conclusions. Building underwater transport vessels is technically possible, economically profitable, and expedient. This project can be implemented only in two countries — Russia and the United States.

The concept of a quiet undulating propulsion with ionic polymer-metal composites in autonomous underwater vehicles

2018 ◽  
Vol 1 (89) ◽  
pp. 35-40
Author(s):  
A. Adamczyk
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Future Application ◽  
Underwater Robotics ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Materials Research ◽  
Polymer Metal ◽  
Living Organisms

Purpose: Recent years have shown a dynamic development of underwater robotics. Autonomous biomimetic underwater vehicles (BUVs) with undulating propulsion are the latest branch in this area. They imitate not only the construction of underwater living organisms such as fish, but also kinematics of their motion. Such solution gives more energy efficient propulsion with less noise comparing to classical propulsion based on screw propellers [1]. However even the latest solutions still use the same electromagnetic engines to drive those sophisticated constructions. This article contains the concept of a ionic polymer-metal composites drive, design for undulating propulsion. Design/methodology/approach: Design of the new type of fin requires further tests and presented model takes under the consideration influence of only few factors described in this paper. Findings: Results of the research confirm theoretical behaviour of IPMC’s (Ionic Polymer- Metal Composites) and show some disadvantages of this type of materials. Research limitations/implications: The effects of the research are limited to macroscopic observation with limited accuracy. Practical implications: Results of the research show possible future application of IPMC’s (in underwater robotics). Originality/value: Results of this research opens a new idea which with further tests may result in developing a new quiet undulating propulsion for BUV’s.

Collision Avoidance in Multiple-Ship Situations by Distributed Local Search

2014 ◽  
Vol 18 (5) ◽  
pp. 839-848 ◽  
Author(s):  
Dong-Gyun Kim ◽  
◽  
Katsutoshi Hirayama ◽  
Gyei-Kark Park ◽  
Keyword(s):  
Local Search ◽  
Collision Avoidance ◽  
Search Algorithm ◽  
Fuzzy Theory ◽  
Search Performance ◽  
Local Search Algorithm ◽  
Collision Risk ◽  
Mode Of Transportation ◽  
Ship Collision ◽  
Approach Time

As vital transportation carriers in trade, ships have the advantage of stability, economy, and bulk capacity over airplanes, trucks, and trains. Even so, their loss and cost due to collisions and other accidents exceed those of any other mode of transportation. To prevent ship collisions many ways have been suggested, e.g., the 1972 COLREGs which is the regulation for preventing collision between ships. Technologically speaking, many related studies have been conducted. The term “Ship domain” involves that area surrounding a ship that the navigator wants to keep other ships clear of. Ship domain alone is not sufficient, however, for enabling one or more ships to simultaneously determine the collision risk for all of the ships concerned. Fuzzy theory is useful in helping ships avoid collision in that fuzzy theory may define whether collision risk is based on distance to closest point of approach, time to closest point of approach, or relative bearing – algorithms that are difficult to apply to more than one ships at one time. The main purpose of this study is thus to reduce collision risk among multiple ships using a distributed local search algorithm (DLSA). By exchanging information on, for example, next-intended courses within a certain area among ships, ships having the maximum reduction in collision risk change courses simultaneously until all ships approach a destination without collision. In this paper, we introduce distributed local search and explain how it works using examples. We conducted experiments to test distributed local search performance for certain instances of ship collision avoidance. Experiments results showed that in most cases, our proposal applies well in ship collision avoidance amongmultiple ships.

scholarly journals On designing an oral history search system

2017 ◽  
Vol 73 (6) ◽  
pp. 1281-1298 ◽  
Author(s):  
Iain Walker ◽  
Martin Halvey
Keyword(s):  
Oral History ◽  
Qualitative Methodology ◽  
Geographic Region ◽  
Search System ◽  
Content Type ◽  
Framework Approach ◽  
Develop Software ◽  
User Groups ◽  
And Control ◽  
Search Systems

Purpose The purpose of this paper is to conduct a UK-based assessment of oral history technology and to identify the most important features that should be available in any oral history search system. Design/methodology/approach A co-design approach involving interviews and focus groups was adopted. The framework approach with elements of grounded theory was used to analyse transcripts to identify themes. Findings The analysis found that “ethics, consent and control”, “accessibility and engagement”, “publicity and awareness”, and “innovative technologies” were the four major themes identified. It was also established that there is limited understanding of oral history in the digital age, numerous interests, ethical concerns, lack of publicity and several key attributes that those designing an oral history search system or archive should strive for. The findings also identified that further exploration into sampling selected technologies on different user groups is required in order to develop software that would benefit the field. Research limitations/implications Participants were all recruited from one geographic region. The qualitative methodology utilised could be deemed to have elements of subjectivity. Practical implications This study has identified important features of any oral history search system and offered design recommendations for any developer of an oral history search systems. Originality/value This research has validated some previous findings for oral history search systems from more limited user studies. New issues for consideration including usability, software development and marketing have also been identified.

An Innovative Navigation Strategy for Autonomous Underwater Vehicles: An Unscented Kalman Filter Based Approach

2015 ◽  
Author(s):  
Benedetto Allotta ◽  
Riccardo Costanzi ◽  
Enrico Meli ◽  
Alessandro Ridolfi ◽  
Luigi Chisci ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Measurement Unit ◽  
Doppler Velocity ◽  
Underwater Robotics ◽  
Filtering Algorithm ◽  
Navigation Algorithms ◽  
Underwater Navigation

Developing reliable navigation strategies is mandatory in the field of Underwater Robotics and in particular for Autonomous Underwater Vehicles (AUVs) to ensure the correct achievement of a mission. Underwater navigation is still nowadays critical, e.g. due to lack of access to satellite navigation systems (e.g. the Global Positioning System, GPS): an AUV typically proceeds for long time intervals only relying on the measurements of its on-board sensors, without any communication with the outside environment. In this context, the filtering algorithm for the estimation of the AUV state is a key factor for the performance of the system; i.e. the filtering algorithm used to estimate the state of the AUV has to guarantee a satisfactory underwater navigation accuracy. In this paper, the authors present an underwater navigation system which exploits measurements from an Inertial Measurement Unit (IMU), Doppler Velocity Log (DVL) and a Pressure Sensor (PS) for the depth, and relies on either an Extended Kalman Filter (EKF) or an Unscented Kalman Filter (UKF) for state estimation. A comparison between the EKF approach, classically adopted in the field of underwater robotics and the UKF is given. These navigation algorithms have been experimentally validated through the data related to some sea tests with the Typhoon class AUVs, designed and assembled by the Department of Industrial Engineering of the Florence University (DIEF) for exploration and surveillance of underwater archaeological sites in the framework of the THESAURUS and European ARROWS projects. The comparison results are significant as the two filtering strategies are based on the same process and sensors models. At this initial stage of the research activity, the navigation algorithms have been tested offline. The presented results rely on the experimental navigation data acquired during two different sea missions: in the first one, Typhoon AUV #1 navigated in a Remotely Operated Vehicle (ROV) mode near Livorno, Italy, during the final demo of THESAURUS project (held in August 2013); in the latter Typhoon AUV #2 autonomously navigated near La Spezia in the framework of the NATO CommsNet13 experiment, Italy (held in September 2013). The achieved results demonstrate the effectiveness of both navigation algorithms and the superiority of the UKF without increasing the computational load. The algorithms are both affordable for online on-board AUV implementation and new tests at sea are planned for spring 2015.

scholarly journals The Internet of Robotic Things

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875942 ◽  
Author(s):  
Pieter Simoens ◽  
Mauro Dragone ◽  
Alessandro Saffiotti
Keyword(s):  
Internet Of Things ◽  
Autonomous Systems ◽  
Robotic Systems ◽  
The Internet ◽  
Holistic View ◽  
The Creation

The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Internet of Things technologies will advance the abilities of both the current Internet of Things and the current robotic systems, thus enabling the creation of new, potentially disruptive services. We discuss some of the new technological challenges created by this merger and conclude that a truly holistic view is needed but currently lacking.

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