Development of hovering type AUV “Cyclops” and its performance evaluation using image mosaicing

Pyo, Juhyun; Cho, Hyeonwoo; Joe, Hangil; Ura, Tamaki; Yu, Son-Cheol

doi:10.1016/j.oceaneng.2015.09.023

Cited by 58 publications

(21 citation statements)

References 21 publications

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“…Image-based topographic data of bottom water taken by an unmanned underwater vehicle (UUV, also known as an autonomous underwater vehicle, AUV) can also be another option (e.g. Pyo et al, 2015), although the application of UUV to flooding has been limited.…”

Section: Flood Monitoringmentioning

confidence: 99%

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Giordan

Hayakawa

Nex

et al. 2018

Nat. Hazards Earth Syst. Sci.

140

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Abstract. The number of scientific studies that consider possible applications of remotely piloted aircraft systems (RPASs) for the management of natural hazards effects and the identification of occurred damages strongly increased in the last decade. Nowadays, in the scientific community, the use of these systems is not a novelty, but a deeper analysis of the literature shows a lack of codified complex methodologies that can be used not only for scientific experiments but also for normal codified emergency operations. RPASs can acquire on-demand ultra-high-resolution images that can be used for the identification of active processes such as landslides or volcanic activities but can also define the effects of earthquakes, wildfires and floods. In this paper, we present a review of published literature that describes experimental methodologies developed for the study and monitoring of natural hazards. IntroductionIn the last three decades, the number of natural disasters showed a positive trend with an increase in the number of affected populations. Disasters not only affected the poor and characteristically more vulnerable countries but also those thought to be better protected. The Annual Disaster Statistical Review describes recent impacts of natural disasters on the population and reports 342 naturally triggered disasters in 2016 (Guha-Sapir et al., 2017). This is less than the annual average disaster frequency observed from 2006 to 2015 (376.4 events). However, natural disasters are still responsible for a high number of casualties (8733 death). In the period 2006-2015, the average number of causalities caused annually by natural disasters is 69 827. In 2016, hydrological disasters (177) had the largest share in natural disaster occurrence (51.8 %), followed by meteorological disasters (96; 28.1 %), climatological disasters (38; 11.1 %) and geophysical disasters (31; 9.1 %) (Guha-Sapir et al., 2017). To face these disasters, one of the most important solutions is the use of systems able to provide an adequate level of information for correctly understanding these events and their evolution. In this context, surveying and monitoring natural hazards gained importance. In particular, during the emergency phase it is very important to evaluate and control the phenomenon of evolution, preferably operating in near real time or real time, and consequently, use this information for a better risk assessment scenario. The available acquired data must be processed rapidly to support the emergency services and decision makers.Recently, the use of remote sensing (satellite and airborne platform) in the field of natural hazards and disasters has become common, also supported by the increase in geospatial technologies and the ability to provide and process up-to-date imagery (Joyce et al., 2009;Tarolli, 2014). Remotely sensed data play an integral role in predicting hazard events such as floods and landslides, subsidence events and other ground instabilities. Because of their acquisition mode and capabilPublished by Copern...

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Section: Flood Monitoringmentioning

confidence: 99%

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Giordan

Hayakawa

Nex

et al. 2018

Nat. Hazards Earth Syst. Sci.

140

View full text Add to dashboard Cite

show abstract

“…With the increasingly wide activities in deep-sea exploration and exploitation, underwater vehicles of various types have become indispensable tools for scientists, researchers and engineers to conduct ocean research and perform underwater tasks [1][2][3][4][5][6][7][8][9][10][11][12]. Among them, autonomous underwater vehicles (AUVs), which are developed to provide high automation, cost-effectiveness, and medium and long-range capability to execute underwater missions without placing human lives at risk [13], are increasingly being used in highly detailed survey and inspection applications including the exploration of unknown environments [14], oceanographic observations [15], the inspection of underwater structures [16] and so on. In such scenarios, AUVs are expected to be capable of both satisfactory hovering and low-speed and energy-efficient cruising for high-quality data gathering and long-duration missions.…”

Section: Introductionmentioning

confidence: 99%

“…The hovering drivers commonly adopted in underwater vehicles are vertical thrusters [15,19,21] which, although responsive, have inherent disadvantages of high energy consumption and strong perturbations to the surroundings. Alternatively, different types of variable buoyancy [20,[22][23][24] or ballast [18,25,26] systems, which are characterized by high power efficiency and less disturbance to the environment, have been developed over the past few years.…”

Section: Introductionmentioning

confidence: 99%

Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

Zhao

Zhang

et al. 2020

JMSE

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Autonomous underwater vehicles (AUVs) are increasingly being applied to highly detailed survey and inspection tasks over large ocean regions. These vehicles are required to have underwater hovering and low-speed cruising capabilities, and energy-saving property to enable long-range missions. To this end, a combined depth control strategy is proposed in which an on-off type variable ballast system (VBS) is adopted for satisfactory hovering or fast descending/ascending without propulsion to reach the designated cruising depth, whereas the bow and stern fins act as the actuator to maintain the cruising depth for more energy saving. A hierarchical architecture-based VBS controller, which comprises a ballast water mass planner and an on-off mass flowrate controller, is developed to assure good hovering performance of the on-off type VBS. Both numerical studies and basin tests are conducted on a middle-sized AUV to verify the feasibility and validity of this depth control strategy.

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“…Recently, nonconventional AUVs that are capable of free‐swimming and hovering, also known as hover‐capable AUVs (H‐AUVs), have been developed to perform tasks that require more interactions with subsea structures and environments, such as close‐range visual surveys of seabed areas and underwater structures (Maki, Sato, Matsuda, Shiroku, & Sakamaki, ; Pyo, Cho, Joe, Ura, & Yu, ; Ribas, Palomeras, Ridao, Carreras, & Hernandez, ; Ribas, Ridao, Magí, Palomeras, & Carreras, ; Singh et al, ; Vaganay, Gurfinkel, Elkins, Jankins, & Shurn, ). A body of research has been conducted to build a global map of survey areas by combining composite views through 2D or 3D reconstructions.…”

Section: Introductionmentioning

confidence: 99%

In‐water visual ship hull inspection using a hover‐capable underwater vehicle with stereo vision

Hong

Chung

Kim

et al. 2018

Journal of Field Robotics

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Underwater visual inspection is an important task for checking the structural integrity and biofouling of the ship hull surface to improve the operational safety and efficiency of ships and floating vessels. This paper describes the development of an autonomous in-water visual inspection system and its application to visual hull inspection of a fullscale ship. The developed system includes a hardware vehicle platform and software algorithms for autonomous operation of the vehicle. The algorithms for vehicle autonomy consist of the guidance, navigation, and control algorithms for real-time and onboard operation of the vehicle around the hull surface. The environmental perception of the developed system is mainly based on optical camera images, and various computer vision and optimization algorithms are used for vision-based navigation and visual mapping. In particular, a stereo camera is installed on the underwater vehicle to estimate instantaneous surface normal vectors, which enables high-precision navigation and robust visual mapping, not only on flat areas but also over moderately curved hull surface areas. The development process of the vehicle platform and the implemented algorithms are described. The results of the field experiment with a full-scale ship in a real sea environment are presented to demonstrate the feasibility and practical performance of the developed system.

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Development of hovering type AUV “Cyclops” and its performance evaluation using image mosaicing

Cited by 58 publications

References 21 publications

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

In‐water visual ship hull inspection using a hover‐capable underwater vehicle with stereo vision

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