AUV "TUNA-SAND" and its Exploration of hydrothermal vents at Kagoshima Bay

Nakatani, Takeshi; Ura, Tamaki; Ito, Yuzuru; Kojima, Junichi; Tamura, Kenkichi; Sakamaki, Takashi; Nose, Yukio

doi:10.1109/oceanskobe.2008.4531099

Cited by 41 publications

(14 citation statements)

References 3 publications

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“…For the first deployment at sea, an NTSC video camera, a sheet laser and an LED panel for lighting were mounted on the AUV Tuna-Sand [8] shown in fig. 5, which can also be operated in ROV mode.…”

Section: Results From Data Recorded At Seamentioning

confidence: 99%

Pixel based mapping using a sheet laser and camera for generation of coloured 3D seafloor reconstructions

Bodenmann

Thornton

Ura

et al. 2010

Oceans 2010 MTS/Ieee Seattle

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There are several approaches for 3 dimensional mapping of the seafloor in the actual colours, many of which require multiple cameras, elaborate algorithms and specially designed vehicles. In this paper a method is presented, which uses minimal equipment and simple algorithms for this task, while treating the data in a fully 3 dimensional way from input to output. Because of the reduced hardware demands, it is well suited for combined missions, where the underwater vehicle records some other data as primary task and the map created with the proposed method acts as a support for visualising that data and the environment where it was collected. I. INTRODUCTIONPhotographing and filming of the seafloor has been performed already for many years, with attempts of using a TV camera for survey dating back to 1964 [1]. As visibility is limited underwater, an image can cover only a few square metres, and so the idea of merging several photos into a mosaic emerged as a practical solution for wide area seafloor imaging. These days reconstruction of the seafloor has been taken to a new level thanks to the use of computers and digital photography. For 2D reconstruction, photos are arranged next to each others, corrected for difference in lighting and the transitions are smoothed [2], [3]. By overlaying such a mosaic on the topography of the seafloor, a 3D model can be generated. If the seafloor topography doesn't have any sudden changes in height, this method yields good results. However, pronounced vertical reliefs lead to geometrical distortions due to the perspective effect, producing artefacts in the mosaic and an inherently incorrect 3D reconstruction.Places of interest underwater often include areas with pronounced reliefs, such as areas where mineral resources are found, hydrothermal vents, manmade underwater installations, shipwrecks, coral reefs or archaeological sites. In these cases a method that handles the images in a fully three dimensional way from input to output is required to produce better results. High resolution 3D reconstruction using stereo photography has been shown by Pizarro, Williams and Mahon [4]. Much effort went into the implementation of the algorithm and an AUV that is perfectly suited for recording the images has been developed.While the above mentioned methods are used for mapping of the seafloor as a main task, we argue that generating a 3D map of the region where a vehicle was deployed while carrying

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Section: Results From Data Recorded At Seamentioning

confidence: 99%

Pixel based mapping using a sheet laser and camera for generation of coloured 3D seafloor reconstructions

Bodenmann

Thornton

Ura

et al. 2010

Oceans 2010 MTS/Ieee Seattle

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“…Reflectance is normalized by constant parameter α, β to use full color representation expressed in (4). R' is the estimated reflectance.…”

Section: A Image Enhancementmentioning

confidence: 99%

“…The proposed method enhances the effect of light attenuation in the deep-sea floor image and reduces the image depth from 24-bit of original images to 4-bit. The method is evaluated by transmission experiment using a new AUV "TUNA-SAND 2" which is subsequent AUV "TAUNA-SAND [4]" to deep-sea observation.…”

Section: Introductionmentioning

confidence: 99%

Image enhancement and compression of deep-sea floor image for acoustic transmission

Ahn

Yasukawa

Sonoda

et al. 2016

OCEANS 2016 - Shanghai

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One of the important missions of AUVs is to take deep-sea images and make maps of sea floor to contribute the understanding of deep-sea biology and geology. The sea floor images include lots of information such as distributions of creatures, minerals and so on. The next mission expected for AUVs is to bring the samples back concurrently with taking interesting photos, autonomously. However, this mission is difficult to perform fully-autonomous without the knowledge of biologists or geologists, as the AUVs don't know which objects are interesting or important for them and it takes long time to teach AUVs all features of target samples. It is necessary for AUVs to work semi-autonomously by collaborating with scientists on the ship and getting commands to indicate the important samples. In this research, we proposed an image enhancement and compression method for acoustic transmission with limited communication density. The proposed method enhances the effect of light attenuation in the deep-sea floor image and reduces the image depth from 24-bit of original images to 4-bit. The method is evaluated by transmission experiment using a new AUV "TUNA-SAND 2". Keywords-AUV; image enhancement; data compression; deep-sea observation;the support ship and getting commands to indicate the important samples.In most of AUV missions, the acoustic communication is used to communicate between an AUV and operators in support ship to monitor the robot's condition and send behaviour commands to it. In general, the acoustic communication has low information density compared to radio communication on land; therefore, it is difficult to communicate big size data like 24-bit color image by acoustic communication.978-1-4673-9724-7/16/$31.00 ©2016 IEEE

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“…Undersea robots are often used to investigate marine animals [1][2][3][4]. For example, URASHIMA has the ability to sail long distances and take clear pictures on the ocean floor [1,2].…”

Section: Introductionmentioning

confidence: 99%

“…For example, URASHIMA has the ability to sail long distances and take clear pictures on the ocean floor [1,2]. AUVs like TUNA-SAND, etc., succeeded in taking videos of natural phenomena or aquatic animals and gathering data about the sea [3,4]. However, such robots are generally impractical in narrow spaces such as rivers and ponds, particularly if they are driven by a screw propeller that can become entangled in algae and aquatic plants.…”

Section: Introductionmentioning

confidence: 99%

Performance of Very Small Robotic Fish Equipped with CMOS Camera

et al. 2015

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Underwater robots are often used to investigate marine animals. Ideally, such robots should be in the shape of fish so that they can easily go unnoticed by aquatic animals. In addition, lacking a screw propeller, a robotic fish would be less likely to become entangled in algae and other plants. However, although such robots have been developed, their swimming speed is significantly lower than that of real fish. Since to carry out a survey of actual fish a robotic fish would be required to follow them, it is necessary to improve the performance of the propulsion system. In the present study, a small robotic fish (SAPPA) was manufactured and its propulsive performance was evaluated. SAPPA was developed to swim in bodies of freshwater such as rivers, and was equipped with a small CMOS camera with a wide-angle lens in order to photograph live fish. The maximum swimming speed of the robot was determined to be 111 mm/s, and its turning radius was 125 mm. Its power consumption was as low as 1.82 W. During trials, SAPPA succeeded in recognizing a goldfish and capturing an image of it using its CMOS camera.

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AUV "TUNA-SAND" and its Exploration of hydrothermal vents at Kagoshima Bay

Cited by 41 publications

References 3 publications

Pixel based mapping using a sheet laser and camera for generation of coloured 3D seafloor reconstructions

Pixel based mapping using a sheet laser and camera for generation of coloured 3D seafloor reconstructions

Image enhancement and compression of deep-sea floor image for acoustic transmission

Performance of Very Small Robotic Fish Equipped with CMOS Camera

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