Sensor Modeling for Underwater Localization Using a Particle Filter

Barberá, Humberto Martínez; Bernal-Polo, Pablo; Herrero-Pérez, David

doi:10.3390/s21041549

Cited by 11 publications

(6 citation statements)

References 35 publications

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“…Its design is conceived for the inspection and maintenance of submerged systems. The propulsion system uses a TVC (Thrust Vector Control) with eight propellers that allow the vehicle to move/rotate in any direction by combining them [39]. Figure 8b shows the soft gripper installed on the underwater platform.…”

Section: Resultsmentioning

confidence: 99%

Soft Gripper Design and Fabrication for Underwater Grasping

Herrero-Pérez

Barberá

2022

Applied Sciences

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Underwater manipulation with current robotics technology is a challenging task with significant limits in versatility and robustness terms. Such functionality has tremendous potential covering a broad spectrum of applications, mainly replacing divers performing hazardous jobs. Soft robotics provides an efficient solution for operating in these scenarios and adapting to uncertain environmental conditions. This paper presents the design and fabrication of a simple, low-cost, and easily deployable soft gripper for underwater manipulation. We use modelling and simulation techniques for designing the soft fluidic elastomer actuators that compose the soft gripper and additive manufacturing techniques for rapid test cycles and validation. These techniques allow for a fast redesign depending on the application requirements. The proposal combines materials and fabrication techniques to take advantage of their strengths. We validate the feasibility and ability of the proposed soft gripper in a challenging underwater scenario using a subaquatic vehicle.

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Section: Resultsmentioning

confidence: 99%

Soft Gripper Design and Fabrication for Underwater Grasping

Herrero-Pérez

Barberá

2022

Applied Sciences

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“…They also clarified the nonlinear sound growth of acoustic indicators. The media and directing receive organized control measures when dealing with rising channel utilization [17].…”

Section: Related Studiesmentioning

confidence: 99%

Review of Localization and Clustering in USV and AUV for Underwater Wireless Sensor Networks

Sathish

Venkata

Anbazhagan

et al. 2023

Telecom

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Oceanographic data collection, disaster prevention, aided navigation, critical observation sub-missions, contaminant screening, and seaward scanning are just a few of the submissions that use underwater sensor hubs. Unmanned submerged vehicles (USVs) or autonomous acoustic underwater vehicles (AUVs) through sensors would similarly be able to explore unique underwater resources and gather data when utilized in conjunction with integrated screen operations. The most advanced technological method of oceanic observation is wireless information routing beneath the ocean or generally underwater. Water bottoms are typically observed using oceanographic sensors that collect data at certain ocean zones. Most research on UWSNs focuses on physical levels, even though the localization level, such as guiding processes, is a more recent zone. Analyzing the presenting metrics of the current direction conventions for UWSNs is crucial for considering additional enhancements in a procedure employing underwater wireless sensor networks for locating sensors (UWSNs). Due to their severely constrained propagation, radio frequency (RF) transmissions are inappropriate for underwater environments. This makes it difficult to maintain network connectivity and localization. This provided a plan for employing adequate reliability and improved communication and is used to locate the node exactly using a variety of methods. In order to minimize inaccuracies, specific techniques are utilized to calculate the distance to the destination. It has a variety of qualities, such as limited bandwidth, high latency, low energy, and a high error probability. Both nodes enable technical professionals stationed on land to communicate data from the chosen oceanic zones rapidly. This study investigates the significance, uses, network architecture, requirements, and difficulties of undersea sensors.

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“…Barbera used a particle filter method to fuse the sensor information from the ArUco markers, the imaging sonar and the ping sonar. The underwater vehicles were located by using a Sequential Monte Carlo method initialised from GPS location acquisition on the surface [23]. The results showed that the method was a reliable solution for underwater navigation.…”

Section: Related Workmentioning

confidence: 99%

An Underwater Visual Navigation Method Based on Multiple ArUco Markers

Haroutunian

Murphy

et al. 2021

JMSE

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Underwater navigation presents crucial issues because of the rapid attenuation of electronic magnetic waves. The conventional underwater navigation methods are achieved by acoustic equipment, such as the ultra-short-baseline localisation systems and Doppler velocity logs, etc. However, they suffer from low fresh rate, low bandwidth, environmental disturbance and high cost. In the paper, a novel underwater visual navigation is investigated based on the multiple ArUco markers. Unlike other underwater navigation approaches based on the artificial markers, the noise model of the pose estimation of a single marker and an optimal algorithm of the multiple markers are developed to increase the precision of the method. The experimental tests are conducted in the towing tank. The results show that the proposed method is able to localise the underwater vehicle accurately.

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Sensor Modeling for Underwater Localization Using a Particle Filter

Cited by 11 publications

References 35 publications

Soft Gripper Design and Fabrication for Underwater Grasping

Soft Gripper Design and Fabrication for Underwater Grasping

Review of Localization and Clustering in USV and AUV for Underwater Wireless Sensor Networks

An Underwater Visual Navigation Method Based on Multiple ArUco Markers

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