UX 1 system design - A robotic system for underwater mining exploration

Martins, Alfredo; Almeida, J.; Almeida, Carlos; Dias, André; Dias, Nuno; Aaltonen, Jukka; Heininen, Arttu; Koskinen, Kari T.; Rossi, Cláudio; Domínguez, Sergio; Vörös, Csaba; Henley, Stephen; McLoughlin, Mike; Moerkerk, Hilco van; Tweedie, James; Bodó, Balázs; Zajzon, Norbert; Silva, Eduardo

doi:10.1109/iros.2018.8593999

Cited by 28 publications

(23 citation statements)

References 12 publications

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“…During the tests, the scanner was not submerged, so the scan was performed from outside the water tank. In [141], the scanner was mounted on an AUV to explore underwater mines.…”

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

State of the Art of Underwater Active Optical 3D Scanners

Castillón

Palomer

Forest

et al. 2019

Sensors

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Underwater inspection, maintenance and repair (IMR) operations are being increasingly robotized in order to reduce safety issues and costs. These robotic systems rely on vision sensors to perform fundamental tasks, such as navigation and object recognition and manipulation. Especially, active optical 3D scanners are commonly used due to the domain-specific challenges of underwater imaging. This paper presents an exhaustive survey on the state of the art of optical 3D underwater scanners. A literature review on light projection and light-sensing technologies is presented. Moreover, quantitative performance comparisons of underwater 3D scanners present in the literature and commercial products are carried out.

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“…During the tests, the scanner was not submerged, so the scan was performed from outside the water tank. In [141], the scanner was mounted on an AUV to explore underwater mines.…”

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

State of the Art of Underwater Active Optical 3D Scanners

Castillón

Palomer

Forest

et al. 2019

Sensors

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“…Sensors 2020, 20,4028 Author Contributions: The work presented in this paper has been done as a collaboration by all the authors. L.L.…”

Section: Algorithm 2 Elevation Angle Mlementioning

confidence: 99%

“…The problem should be cast as a constrained optimization on

. Finally, Martins et al [ 20 ] developed a robotic system called UX-1 under the European project UNEXMIN designed to explore flooded, abandoned mines. It is equipped with a camera, a four-customized-laser-based structured light system and multibeam profiler sonar.…”

Section: Related Workmentioning

confidence: 99%

Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration

Breux

Lapierre

2020

Sensors

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This paper proposes a solution for merging the measurements from two perpendicular profiling sonars with different beam-widths, in the context of underwater karst (cave) exploration and mapping. This work is a key step towards the development of a full 6D pose SLAM framework adapted to karst aquifer, where potential water turbidity disqualifies vision-based methods, hence relying on acoustic sonar measurements. Those environments have complex geometries which require 3D sensing. Wide-beam sonars are mandatory to cover previously seen surfaces but do not provide 3D measurements as the elevation angles are unknown. The approach proposed in this paper leverages the narrow-beam sonar measurements to estimate local karst surface with Gaussian process regression. The estimated surface is then further exploited to infer scaled-beta distributions of elevation angles from a wide-beam sonar. The pertinence of the method was validated through experiments on simulated environments. As a result, this approach allows one to benefit from the high coverage provided by wide-beam sonars without the drawback of loosing 3D information.

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“…In [21], the authors presented the initial design of the mechanical subsystems and their functions, which were redesigned and upgraded using the structural strength analysis results in [22]. The design of the overall system was presented in [23], along with some preliminary simulation results. Once the fabrication UX-1 Robot platform had been concluded, several experimental underwater tests were performed in a water tank environment to compare the performance of linear and non-linear controllers on the UX-1 Robot motion systems [24].…”

Section: B Related Workmentioning

confidence: 99%

“…The system architecture will vary depending on the environment conditions in the mine sites and the desired level of autonomy [23]. Nevertheless, an overall conceptual model of the system architecture, used during field testing, can be seen in Fig.…”

Section: A System Architecturementioning

confidence: 99%

Motion Control of Underwater Mine Explorer Robot UX-1: Field Trials

et al. 2019

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In this paper, we present the results of a series of field trials conducted with an underwater vehicle in the increasingly complex underwater environments of the Kaatiala mine in Finland, the Idrija mine in Slovenia, and the Urgeiriça mine in Portugal. These field experiments have been performed to test and validate the motion control systems of the underwater explorer robot (UX-1), which are: a variable ballast system for buoyancy control, a variable pitch system for pitch control, and a propulsion system for depth and heading stabilization. The control method implemented is based on a state feedback linearization algorithm, previously tested and validated in a controlled water tank environment. Several experiments are shown which demonstrate the successful operation of the motion control systems in individual performance tests. Afterward, a full exploration and geo-scientific data collection mission is presented, where all of the motion control systems are active simultaneously during a deep dive to more than 100 m. The results obtained in the field tests demonstrate the effectiveness of the motion control systems and validate the UX-1 Robot platform as capable of performing the complex task of navigation and control in flooded mine environments.

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UX 1 system design - A robotic system for underwater mining exploration

Cited by 28 publications

References 12 publications

State of the Art of Underwater Active Optical 3D Scanners

State of the Art of Underwater Active Optical 3D Scanners

Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration

Motion Control of Underwater Mine Explorer Robot UX-1: Field Trials

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