Deep-Sea Underwater Cooperative Operation of Manned/Unmanned Submersible and Surface Vehicles for Different Application Scenarios

Yang, Lei; Zhao, Shuai; Wang, Xiangxin; Shen, Ping; Zhang, Tongwei

doi:10.3390/jmse10070909

Cited by 22 publications

(6 citation statements)

References 18 publications

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“…For experimental estimation of IW parameters, it is necessary to study the spatial structure of the temperature fields. Horizontally spaced TR-chains equipped with autonomous temperature sensors with loggers, as well as mobile underwater vehicles or gliders, can be used for these purposes [46,49,50]. It should be noted that the installation of several TR-chains during the open water period is associated with some problems [35], such as maintaining the mutual position of TR-chains in a highly turbulent medium.…”

Section: Methodsmentioning

confidence: 99%

Short Standing and Propagating Internal Waves in an Ice-Covered Shallow Lake

Bogdanov

Zdorovennov

Palshin

et al. 2023

Water

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The intensity of vertical heat and mass transfer remains among the challenging topics in the study of ice-covered lakes. Presumably, internal waves (IWs) make a significant contribution to the heat transfer in the water column. However, the mechanisms of mixing enhancement by generation, interaction, and breaking of IWs of different scales, especially short-wavelength ones, have not been sufficiently studied. Furthermore, the experimental data required for estimating the key parameters of IWs (wavelengths, propagation velocities) are rather fragmentary, which makes it difficult to quantify the turbulent transfer caused by IWs. This paper presents the estimates of these IW parameters based on data obtained in the winter months of 2014 and 2016 in a small boreal ice-covered lake. Having analyzed horizontally spaced thermistor chain data, we managed to detect the presence of short standing and propagating IWs, and to estimate their length (from several meters to several tens of meters) and phase and group velocities (from several mm/s to several tens of mm/s). Also, their vertical mode structure was detected. It was shown that IW generation events were characterized by a high degree of spatial localization, and the IW energy was unevenly distributed through the water column.

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Section: Methodsmentioning

confidence: 99%

Short Standing and Propagating Internal Waves in an Ice-Covered Shallow Lake

Bogdanov

Zdorovennov

Palshin

et al. 2023

Water

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“…2 Construct scale space. 3 Pick up candidate key points through improved FAST-9, ascertain key points through Harris sort. 4 Estimate the major orientation with intensity centroid method, and apply non-maximum value to get rid of repetition point.…”

Section: Improved Orb Matching Algorithm For Small Objectsmentioning

confidence: 99%

“…For the time being, the implementation of underwater manipulation missions through underwater robots have attracted increasing attention worldwide [1][2][3]. Their missions and applications include environmental detection, oceanic engineering, structural inspections, seabed surveys, scientific explorations, mine extractions, wreck recoveries, etc.…”

Section: Introductionmentioning

confidence: 99%

Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp

Jiang,

Sun,

Huang

et al. 2023

JMSE

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Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measurement accuracy, this paper has proposed an improved unsharp masking algorithm to further enhance the weak texture region of blurred and low contrast images. Moreover, an improved ORB feature-matching method with adaptive threshold, non-maximum suppression and improved random sample consensus has also been proposed. To overcome unknown underwater disturbances and uncertain system parameters in the underwater robotic manipulations, an adaptive non-singular terminal sliding mode controller has been proposed with a quasi-barrier function to suppress the chattering problem and improve grasp accuracy for small target. Oceanic experiments have been conducted to prove the performance of the proposed method.

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“…In this way, there are two advantages: the first is that other AUVs can save the battery needed to return to base to receive new instructions and use it for other jobs, thus optimising the execution time of individual tasks and, thus, of an entire campaign of work; the second consists of the fact that this also saves the human operator time by not having to individually contact all AUVs to provide new instructions, thus reducing the risks associated with time spent diving. Moreover, the expansion of the language framework not only facilitates greater flexibility in the selection of AUV platforms, but also accommodates a variety of potential application scenarios, including, for example, those involving human-occupied vehicles and hybrid systems incorporating autonomous underwater gliders or unmanned surface support vehicles [45].…”

Section: The New Framework For Multi-auv Collaboration and Coordinationmentioning

confidence: 99%

Towards Multi-AUV Collaboration and Coordination: A Gesture-Based Multi-AUV Hierarchical Language and a Language Framework Comparison System

Chiarella

2023

JMSE

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The underwater environment is a harmful environment, yet one of the richest and least exploited. For these reasons the idea of a robotic companion with the task of supporting and monitoring divers during their activities and operations has been proposed. However, the idea of a platoon of robots at the diver’s disposal has never been fully addressed in these proposals due to the high cost of implementation and the usability, weight and bulk of the robots. Nevertheless, recent advancements in swarm robotics, materials engineering, deep learning, and the decreasing cost of autonomous underwater vehicles (AUVs), have rendered this concept increasingly viable. Therefore, this paper introduces, in the first part, a novel framework that integrates a revised version of a gesture-based language for underwater human–robot interaction (Caddian) based on insights gained from extensive field trials. The newly introduced objective of this framework is to enable the cooperation and coordination of an AUV team by one or more human operators, while allowing a human operator to delegate a robot leader to instruct the other robotic team members. The work, in the second part, provides an evaluation of the new language proposed thanks to a fifty million sentence corpus and describes a comparison framework, which is used to estimate it with respect to other existing underwater human–robot interaction languages.

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Deep-Sea Underwater Cooperative Operation of Manned/Unmanned Submersible and Surface Vehicles for Different Application Scenarios

Cited by 22 publications

References 18 publications

Short Standing and Propagating Internal Waves in an Ice-Covered Shallow Lake

Short Standing and Propagating Internal Waves in an Ice-Covered Shallow Lake

Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp

Towards Multi-AUV Collaboration and Coordination: A Gesture-Based Multi-AUV Hierarchical Language and a Language Framework Comparison System

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