Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle

Edge, Chelsey; Enan, Sadman Sakib; Fulton, Michael S.; Hong, Jungseok; Mo, Jiawei; Barthelemy, Kimberly; Bashaw, Hunter; Kallevig, Berik; Knutson, Corey; Orpen, Kevin; Sattar, Junaed

doi:10.1109/iros45743.2020.9341007

Cited by 29 publications

(8 citation statements)

References 26 publications

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“…Of course, expanding RCVM implementations across other robots is an exciting area for future work, as the development of implementations for more robots will continue to expand our understanding of how these languages can be designed. We are currently developing an implementation for the new LoCO AUV [22]. Additionally, expanding the final study presented in this work to an in-person design would be useful to validate the degree to which this work's results will hold for in-person interaction.…”

Section: Future Workmentioning

confidence: 95%

Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field

Fulton

Edge

Sattar

2022

J. Hum.-Robot Interact.

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In this article, we propose, implement, and evaluate a motion-based communication system for field robots: robots that operate in dynamic, unstructured, outdoor environments. We perform two pilot studies to guide our development of the system, then evaluate it alongside an audio communication system, an LCD display, and a system of blinking LEDs. We compare the usage of these four systems with three different robots from up to five different viewpoints of interaction in a large study administered via Amazon Mechanical Turk. We contribute in two ways to the development of a more robust form of field human-robot interaction, wherein robots can select the most appropriate communication vector for a given situation and context. First, we contribute a motion-based communication system for field robots along with three baseline systems against which to test it. Second, we present results from our development of this motion system, showing that it is easier to learn than a baseline blinking LED system, viable for use underwater, aerial, and terrestrial field robots, and less negatively affected by adverse viewpoints than other communication methods.

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Section: Future Workmentioning

confidence: 95%

Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field

Fulton

Edge

Sattar

2022

J. Hum.-Robot Interact.

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“…To enable AUVs to track and approach divers for the purpose of initiating interactions, we present the Autonomous Diver-Relative Operator Configuration (ADROC) algorithm. The proposed algorithm was implemented using the LoCO AUV [5], but due to its minimal sensor requirements, it could be transferred to any AUV with a monocular camera and five or more degrees of freedom.…”

Section: Autonomous Diver-relative Operator Configurationmentioning

confidence: 99%

“…The AUV we used as our test platform for this work was the LoCO AUV [5], which is a modular, low-cost, open-source AUV equipped with dual monocular cameras and three thrusters. All the computation required for ADROC was done onboard, primarily using a Nvidia Jetson TX2 mobile GPU.…”

Section: Experimental Platformsmentioning

confidence: 99%

“…Autonomous underwater vehicles (AUV) have traditionally been used for standalone missions, with limited or no direct human involvement, in applications where it is infeasible for humans to closely collaborate with the robots (e.g., long-term oceanographic surveys [1,2]). However, in recent decades, the advent of smaller AUVs [3][4][5] suitable for working closely with humans (termed co-AUVs) has enabled robots and humans to collaborate on tasks underwater. Over the last few decades, a variety of human-robot interaction (HRI) capabilities have been developed for co-AUVs to facilitate this work: from gestural programming [6][7][8] and various modes of robot communication [9,10] to diver following [11,12].…”

Section: Introductionmentioning

confidence: 99%

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Using Monocular Vision and Human Body Priors for AUVs to Autonomously Approach Divers

Fulton¹,

Hong²,

Sattar³

2021

Preprint

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Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (e.g., surveillance, inspection, and search-and-rescue) require close diver-robot collaboration. Many core functionalities in this domain are in need of further study to improve robotic capabilities for ease of interaction. One of these is the challenge of autonomous robots approaching and positioning themselves relative to divers to initiate and facilitate interactions. Suboptimal AUV positioning can lead to poor quality interaction and lead to excessive cognitive and physical load for divers. In this paper, we introduce a novel method for AUVs to autonomously navigate and achieve diver-relative positioning to begin interaction. Our method is based only on monocular vision, requires no global localization, and is computationally efficient. We present our algorithm along with an implementation of said algorithm on board both a simulated and physical AUV, performing extensive evaluations in the form of closed-water tests in a controlled pool. Analysis of our results show that the proposed monocular vision-based algorithm performs reliably and efficiently operating entirely on-board the AUV.

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“…One of the ways to improve the efficiency of the AUV is to reduce the controller size and weight of the AUV (Fiester et al, 2019). Other studies suggested that underwater locomotion highly relies on the forces generated by the propeller (Edge et al, 2020;Zhang et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

The Biomimetic Fin Performance Evaluation for an Efficient Autonomous Underwater Vehicle (Auv) to Support the Revolution in Military Affairs (Rma) in Underwater Defense

Jaya

Rukmono

2021

Pertahanan

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<div><p class="Els-history-head">The world is facing the global trend of Industry 4.0 in the manufacturing sectors. The concept of the Internet of Underwater Thing (IoUT) presents the trends in the underwater region. The Autonomous Underwater Vehicle (AUV) as a data collector and transmitter becomes the central component in the connected system of the IoUT. The efficiency of the platform is crucial to lengthening the range and duration of the mission. The biomimetic method of utilizing the caudal fin propulsion could enhance the efficiency of the small and low-speed AUV. From the defense perspective, there is a concept of Revolution in Military Affairs (RMA) that supports technological modernization for defense purposes. Technically, this study aims to combine the technical aspects of mechanical engineering and the defense concept of RMA in the technological advancement of AUV for the advanced and efficient defense strategy in the underwater region. The evaluations involved numerical simulation with Computational Fluid Dynamics (CFD) method. The simulation results show that the fully tapered flexible fin enhances the efficiency by 25%, while the narrow flexible fin enhances the efficiency by 30%. These results indicate that a flexible tapered fin should be the primary consideration in designing the high-efficiency biomimetic fin. The visualization of the force vectors shows that the flexibility of the fin acts as a thrust vectoring factor that directs more force vectors in the thrust direction. This study supports the RMA concept implementation by technological modernization, such as efficient biomimetic AUV development, to develop doctrines in the State's defense in the underwater region.</p></div>

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Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle

Cited by 29 publications

References 26 publications

Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field

Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field

Using Monocular Vision and Human Body Priors for AUVs to Autonomously Approach Divers

The Biomimetic Fin Performance Evaluation for an Efficient Autonomous Underwater Vehicle (Auv) to Support the Revolution in Military Affairs (Rma) in Underwater Defense

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