Comparison of Sensor-Feedback Prediction Methods for Robust Behavior Execution

Rauch, Christian; Berghöfer, Elmar; Köhler, Tim; Kirchner, Frank

doi:10.1007/978-3-642-40942-4_18

Cited by 1 publication

(1 citation statement)

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“…This requires a constant monitoring of system states, actuator commands and sensor values to detect anomalies or faults in the first place. The handling of the detected problem could then be done depending on the kind of problem either with predefined solutions (e.g., using other sensors to compensate for a faulty one) or using learning algorithms [88].…”

Section: Autonomous Systemsmentioning

confidence: 99%

Cutting the Umbilical: New Technological Perspectives in Benthic Deep-Sea Research

Brandt

Gutt

Hildebrandt

et al. 2016

JMSE

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Many countries are very active in marine research and operate their own research fleets. In this decade, a number of research vessels have been renewed and equipped with the most modern navigation systems and tools. However, much of the research gear used for biological sampling, especially in the deep-sea, is outdated and dependent on wired operations. The deployment of gear can be very time consuming and, thus, expensive. The present paper reviews wire-dependent, as well as autonomous research gear for biological sampling at the deep seafloor. We describe the requirements that new gear could fulfil, including the improvement of spatial and temporal sampling resolution, increased autonomy, more efficient sample conservation methodologies for morphological and molecular studies and the potential for extensive in situ real-time studies. We present applicable technologies from robotics research, which could be used to develop novel autonomous marine research gear, which may be deployed independently and/or simultaneously with traditional wired equipment. A variety of technological advancements make such ventures feasible and timely. In proportion to the running costs of modern research vessels, the development of such autonomous devices might be already paid off after a discrete number of pioneer expeditions.

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Section: Autonomous Systemsmentioning

confidence: 99%