AUV Adaptive Sampling Methods: a Review
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Remote and Autonomous Controlled Robotic Car Based on Arduino with Real Time Obstacle Detection and Avoidance
Universal Journal of Engineering Science 7(1): 1-7, 2019 http://www.hrpub.org DOI: 10.13189/ujes.2019.070101 Remote and Autonomous Controlled Robotic Car based on Arduino with Real Time Obstacle Detection and Avoidance Esra Yılmaz, Sibel T. Özyer* Department of Computer Engineering, Çankaya University, Turkey Copyright©2019 by authors, all rights reserved. Authors agree that this article remains permanently open access under the terms of the Creative Commons Attribution License 4.0 International License Abstract In robotic car, real time obstacle detection electronic devices. The environment can be any physical and obstacle avoidance are significant issues. In this study, environment such as military areas, airports, factories, design and implementation of a robotic car have been hospitals, shopping malls, and electronic devices can be presented with regards to hardware, software and smartphones, robots, tablets, smart clocks. These devices communication environments with real time obstacle have a wide range of applications to control, protect, image detection and obstacle avoidance. Arduino platform, and identification in the industrial process. Today, there are android application and Bluetooth technology have been hundreds of types of sensors produced by the development used to implementation of the system. In this paper, robotic of technology such as heat, pressure, obstacle recognizer, car design and application with using sensor programming human detecting. Sensors were used for lighting purposes on a platform has been presented. This robotic device has in the past, but now they are used to make life easier. been developed with the interaction of Android-based Thanks to technology in the field of electronics, incredibly device. -
Global Inventory of AUV and Glider Technology Available for Routine Marine Surveying
Appendix 1. Global Inventory of AUVs and Gliders Global Inventory of AUV and Glider Technology available for Routine Marine Surveying Project Leaders: Dr Russell Wynn (NOC) and Dr Elizabeth Linley (NERC) Report Prepared by: Dr James Hunt (NOC) Inventory correct as of September 2013 1 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders Contents United Kingdom Institutes ................................................................. 16 Marine Autonomous and Robotic Systems (MARS) at National Oceanography Centre (NOC), Southampton ................................. 17 Autonomous Underwater Vehicles (AUVs) at MARS ................................... 18 Autosub3 ...................................................................................................... 18 Technical Specification for Autosub3 ......................................................... 18 Autosub6000 ................................................................................................ 19 Technical Specification .............................................................................. 19 Autosub LR ...................................................................................................... 20 Technical Specification .............................................................................. 20 Air-Launched AUVs ........................................................................................ 21 Gliders at MARS .............................................................................................. 22 Teledyne -
MODELING, DESIGN and CONTROL of GLIDING ROBOTIC FISH By
MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang A DISSERTATION Submitted to Michigan State University in partial fulfillment of the requirements for the degree of Electrical Engineering – Doctor of Philosophy 2014 ABSTRACT MODELING, DESIGN AND CONTROL OF GLIDING ROBOTIC FISH By Feitian Zhang Autonomous underwater robots have been studied by researchers for the past half century. In particular, for the past two decades, due to the increasing demand for environmental sustainability, significant attention has been paid to aquatic environmental monitoring using autonomous under- water robots. In this dissertation, a new type of underwater robots, gliding robotic fish, is proposed for mobile sensing in versatile aquatic environments. Such a robot combines buoyancy-driven gliding and fin-actuated swimming, inspired by underwater gliders and robotic fish, to realize both energy-efficient locomotion and high maneuverability. Two prototypes, a preliminary miniature underwater glider and a fully functioning gliding robotic fish, are presented. The actuation system and the sensing system are introduced. Dynamic model of a gliding robotic fish is derived by in- tegrating the dynamics of miniature underwater glider and the influence of an actively-controlled tail. Hydrodynamic model is established where hydrodynamic forces and moments are dependent on the angle of attack and the sideslip angle. Using the technique of computational fluid dynamics (CFD) water-tunnel simulation is carried out for evaluating the hydrodynamic coefficients. Scaling analysis is provided to shed light on the dimension design. Two operational modes of gliding robotic fish, steady gliding in the sagittal plane and tail- enabled spiraling in the three-dimensional space, are discussed. -
Development of an Open Humanoid Robot Platform for Research and Autonomous Soccer Playing
Development of an Open Humanoid Robot Platform for Research and Autonomous Soccer Playing Karl J. Muecke and Dennis W. Hong RoMeLa: Robotics and Mechanisms Lab Virginia Tech Blacksburg, VA 24061 [email protected], [email protected] Abstract This paper describes the development of a fully autonomous humanoid robot for locomotion research and as the first US entry in to RoboCup. DARwIn (Dynamic Anthropomorphic Robot with Intelligence) is a humanoid robot capable of bipedal walking and performing human like motions. As the years have progressed, DARwIn has evolved from a concept to a sophisticated robot platform. DARwIn 0 was a feasibility study that investigated the possibility of making a humanoid robot walk. Its successor, DARwIn I, was a design study that investigated how to create a humanoid robot with human proportions, range of motion, and kinematic structure. DARwIn IIa built on the name ªhumanoidº by adding autonomy. DARwIn IIb improved on its predecessor by adding more powerful actuators and modular computing components. Finally, DARwIn III is designed to take the best of all the designs and incorporate the robot's most advanced motion control yet. Introduction Dynamic Anthropomorphic Robot with Intelligence (DARwIn), a humanoid robot, is a sophisticated hardware platform used for studying bipedal gaits that has evolved over time. Five versions of DARwIn have been developed, each an improvement on its predecessor. The first version, DARwIn 0 (Figure 1a), was used as a design study to determine the feasibility of creating a humanoid robot abd for actuator evaluation. The second version, DARwIn I (Figure 1b), used improved gaits and software. -
Glider Robot a Sleek Ocean Explorer 27 December 2009, by Sandy Bauers
Glider robot a sleek ocean explorer 27 December 2009, By Sandy Bauers The sea was heaving, the skies gray. The captain surface. of the research ship was worried about the weather. About 120 miles off the coast of Spain, Roemmich works with another project, dubbed three Rutgers University scientists had a narrow Argo, which employs 3,000 buoys worldwide, about window of opportunity to find and retrieve their 180 miles apart, to sample the water column. But prize -- an 8-foot, torpedo-shaped yellow robot that they can only drift. they had launched seven months earlier off the coast of New Jersey. The glider, loaded with data sensors, can be directed. They could grab it and learn from it, or in the rough seas accidentally ram it and sink it. "We are data poor for understanding how the ocean operates, and this is going to give us the capability After an hour of pitching in the 20-foot waves, the to understand this much better," said Richard shipmates let out a cheer. Having spent 221 days Spinrad, assistant administrator of the National at sea on a voyage of 4,604 miles, the robot Oceanic and Atmospheric Administration in Silver dubbed Scarlet Knight was safely aboard. Spring, Md. With that came the completion of a mission that "If we can go across the Atlantic, we can go just made oceanographic history. about anywhere with these." Not only was the robot -- an underwater glider -- And what a way to go. the first of its ilk to cross the Atlantic, a mission supporters compared to Sputnik and Charles For its long, solo flights, the glider needs to be a Lindbergh's solo flight. -
A Multi-Level Motion Controller for Low-Cost Underwater Gliders
2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington, May 26-30, 2015 A Multi-level Motion Controller for Low-Cost Underwater Gliders Guilherme Aramizo Ribeiro, Anthony Pinar, Eric Wilkening, Saeedeh Ziaeefard, and Nina Mahmoudian Abstract— An underwater glider named ROUGHIE (Research deploying UGs [23] for submarine tracking. With a valida- Oriented Underwater Glider for Hands-on Investigative Engineer- tion platform, researchers will be able to better understand ing) is designed and manufactured to provide a test platform and glider dynamics [24] and improve UG effectiveness in littoral framework for experimental underwater automation. This paper presents an efficient multi-level motion controller that can be used zones. Additionally, underwater localization and positioning to enhance underwater glider control systems or easily modified and path planning in high risk areas will be improved. for additional sensing, computing, or other requirements for ROUGHIE is 1 m long and weighs 12 kg (payload 1 kg) advanced automation design testing.The ultimate goal is to have with minimum operating endurance of 8 hours and maximum a fleet of modular and inexpensive test platforms for addressing depth of 40 m. At 10% of the cost of commercial underwater the issues that currently limit the use of autonomous underwater vehicles (AUVs). Producing a low-cost vehicle with maneuvering gliders, a ROUGHIE fleet is affordable without compromis- capabilities and a straightforward expansion path will permit easy ing the sophisticated control systems and maneuverability experimentation and testing of different approaches to improve (See the detailed characteristics in Table I). underwater automation. In this paper, the mechanical and electrical components of the ROUGHIE are introduced in Section I as a plant for the INTRODUCTION controller design. -
Learning Preference Models for Autonomous Mobile Robots in Complex Domains
Learning Preference Models for Autonomous Mobile Robots in Complex Domains David Silver CMU-RI-TR-10-41 December 2010 Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania, 15213 Thesis Committee: Tony Stentz, chair Drew Bagnell David Wettergreen Larry Matthies Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Robotics Copyright c 2010. All rights reserved. Abstract Achieving robust and reliable autonomous operation even in complex unstruc- tured environments is a central goal of field robotics. As the environments and scenarios to which robots are applied have continued to grow in complexity, so has the challenge of properly defining preferences and tradeoffs between various actions and the terrains they result in traversing. These definitions and parame- ters encode the desired behavior of the robot; therefore their correctness is of the utmost importance. Current manual approaches to creating and adjusting these preference models and cost functions have proven to be incredibly tedious and time-consuming, while typically not producing optimal results except in the sim- plest of circumstances. This thesis presents the development and application of machine learning tech- niques that automate the construction and tuning of preference models within com- plex mobile robotic systems. Utilizing the framework of inverse optimal control, expert examples of robot behavior can be used to construct models that generalize demonstrated preferences and reproduce similar behavior. Novel learning from demonstration approaches are developed that offer the possibility of significantly reducing the amount of human interaction necessary to tune a system, while also improving its final performance. Techniques to account for the inevitability of noisy and imperfect demonstration are presented, along with additional methods for improving the efficiency of expert demonstration and feedback. -
Uncorrected Proof
JrnlID 10846_ ArtID 9025_Proof# 1 - 14/10/2005 Journal of Intelligent and Robotic Systems (2005) # Springer 2005 DOI: 10.1007/s10846-005-9025-1 Temporal Range Registration for Unmanned 1 j Ground and Aerial Vehicles 2 R. MADHAVAN*, T. HONG and E. MESSINA 3 Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, MD 4 20899-8230, USA; e-mail: [email protected], {tsai.hong, elena.messina}@nist.gov 5 (Received: 24 March 2004; in final form: 2 September 2005) 6 Abstract. An iterative temporal registration algorithm is presented in this article for registering 8 3D range images obtained from unmanned ground and aerial vehicles traversing unstructured 9 environments. We are primarily motivated by the development of 3D registration algorithms to 10 overcome both the unavailability and unreliability of Global Positioning System (GPS) within 11 required accuracy bounds for Unmanned Ground Vehicle (UGV) navigation. After suitable 12 modifications to the well-known Iterative Closest Point (ICP) algorithm, the modified algorithm is 13 shown to be robust to outliers and false matches during the registration of successive range images 14 obtained from a scanning LADAR rangefinder on the UGV. Towards registering LADAR images 15 from the UGV with those from an Unmanned Aerial Vehicle (UAV) that flies over the terrain 16 being traversed, we then propose a hybrid registration approach. In this approach to air to ground 17 registration to estimate and update the position of the UGV, we register range data from two 18 LADARs by combining a feature-based method with the aforementioned modified ICP algorithm. 19 Registration of range data guarantees an estimate of the vehicle’s position even when only one of 20 the vehicles has GPS information. -
Real-Time Monitoring for Toxicity Caused by Harmful Algal Blooms and Other Water Quality Perturbations EPA/600/R-01/103 November 2001
United States Office of Research and EPA/600/R-01/103 Environmental Protection Development November 2001 Agency Washington, DC 20460 Real-Time Monitoring for Toxicity Caused By Harmful Algal Blooms and Other Water Quality Perturbations EPA/600/R-01/103 November 2001 Real-Time Monitoring for Toxicity Caused By Harmful Algal Blooms and Other Water Quality Perturbations National Center for Environmental Assessment-Washington Office Office of Research and Development U.S. Environmental Protection Agency Washington, DC DISCLAIMER This document has been reviewed in accordance with U.S. Environmental Protection Agency policy and approved for publication. Mention of trade names or commercial products does not constitute endorsement or recommendation for use. ABSTRACT This project, sponsored by EPA’s Environmental Monitoring for Public Access and Community Tracking (EMPACT) program, evaluated the ability of an automated biological monitoring system that measures fish ventilatory responses (ventilatory rate, ventilatory depth, and cough rate) to detect developing toxic conditions in water. In laboratory tests, acutely toxic levels of both brevetoxin (PbTx-2) and toxic Pfiesteria piscicida cultures caused fish responses primarily through large increases in cough rate. In the field, the automated biomonitoring system operated continuously for 3 months on the Chicamacomico River, a tributary to the Chesapeake Bay that has had a history of intermittent toxic algal blooms. Data gathered through this effort complemented chemical monitoring data collected by the Maryland Department of Natural Resources (DNR) as part of their pfiesteria monitoring program. After evaluation by DNR personnel, the public could access the data at a DNR Internet website, (www.dnr.state.md.us/bay/pfiesteria/00results.html), or receive more detailed information at aquaticpath.umd.edu/empact. -
Wednesday Morning, 30 November 2016 Lehua, 8:00 A.M
WEDNESDAY MORNING, 30 NOVEMBER 2016 LEHUA, 8:00 A.M. TO 9:05 A.M. Session 3aAAa Architectural Acoustics and Speech Communication: At the Intersection of Speech and Architecture II Kenneth W. Good, Cochair Armstrong, 2500 Columbia Ave., Lancaster, PA 17601 Takashi Yamakawa, Cochair Yamaha Corporation, 10-1 Nakazawa-cho, Naka-ku, Hamamatsu 430-8650, Japan Catherine L. Rogers, Cochair Dept. of Communication Sciences and Disorders, University of South Florida, USF, 4202 E. Fowler Ave., PCD1017, Tampa, FL 33620 Chair’s Introduction—8:00 Invited Papers 8:05 3aAAa1. Vocal effort and fatigue in virtual room acoustics. Pasquale Bottalico, Lady C. Cantor Cutiva, and Eric J. Hunter (Commu- nicative Sci. and Disord., Michigan State Univ., 1026 Red Cedar Rd., Lansing, MI 48910, [email protected]) Vocal effort is a physiological entity that accounts for changes in voice production as vocal loading increases, which can be quanti- fied in terms of Sound Pressure Level (SPL). It may have implications on potential vocal fatigue risk factors. This study investigates how vocal effort is affected by room acoustics. The changes in the acoustic conditions were artificially manipulated. Thirty-nine subjects were recorded while reading a text, 15 out of them used a conversational style while 24 were instructed to read as if they were in a class- room full of children. Each subject was asked to read in three different reverberation time RT (0.4 s, 0.8 s, and 1.2 s), in two noise condi- tions (background noise at 25 dBA and Babble noise at 61 dBA), in three different auditory feedback levels (-5 dB, 0 dB, and 5 dB), for a total of 18 tasks per subject presented in a random order. -
Dynamic Reconfiguration of Mission Parameters in Underwater Human
Dynamic Reconfiguration of Mission Parameters in Underwater Human-Robot Collaboration Md Jahidul Islam1, Marc Ho2, and Junaed Sattar3 Abstract— This paper presents a real-time programming and in the underwater domain, what would otherwise be straight- parameter reconfiguration method for autonomous underwater forward deployments in terrestrial settings often become ex- robots in human-robot collaborative tasks. Using a set of tremely complex undertakings for underwater robots, which intuitive and meaningful hand gestures, we develop a syntacti- cally simple framework that is computationally more efficient require close human supervision. Since Wi-Fi or radio (i.e., than a complex, grammar-based approach. In the proposed electromagnetic) communication is not available or severely framework, a convolutional neural network is trained to provide degraded underwater [7], such methods cannot be used accurate hand gesture recognition; subsequently, a finite-state to instruct an AUV to dynamically reconfigure command machine-based deterministic model performs efficient gesture- parameters. The current task thus needs to be interrupted, to-instruction mapping and further improves robustness of the interaction scheme. The key aspect of this framework is and the robot needs to be brought to the surface in order that it can be easily adopted by divers for communicating to reconfigure its parameters. This is inconvenient and often simple instructions to underwater robots without using artificial expensive in terms of time and physical resources. Therefore, tags such as fiducial markers or requiring memorization of a triggering parameter changes based on human input while the potentially complex set of language rules. Extensive experiments robot is underwater, without requiring a trip to the surface, are performed both on field-trial data and through simulation, which demonstrate the robustness, efficiency, and portability of is a simpler and more efficient alternative approach. -
Navegación Y Control De Un Mini Veh´Iculo Submarino Autónomo
CENTRO DE INVESTIGACION´ Y DE ESTUDIOS AVANZADOS DEL INSTITUTO POLITECNICO´ NACIONAL UNIDAD ZACATENCO DEPARTAMENTO DE CONTROL AUTOMATICO´ Navegaci´on y control de un mini veh´ıculo submarino aut´onomo TESIS Que presenta M. en C. Iv´an Torres Tamanaja Para obtener el grado de DOCTOR EN CIENCIAS EN LA ESPECIALIDAD DE CONTROL AUTOMATICO´ Directores de Tesis: Dr. Jorge Antonio Torres Mu˜noz Dr. Rogelio Lozano Leal MEXICO´ DISTRITO FEDERAL AGOSTO DEL 2013. El riego de nadar entre tiburones, no son los tiburones. El verdadero riesgo es sangrar mientras lo haces. (I.T.T.) A la memoria de mi Chan´ın. Q.E.P.D. Dedicatoria A mis padres: Sa´ul Torres Jim´enez Guillermina Tamanaja Ram´ırez Por su palabras de aliento, por la confianza que siempre me han dado, porque son el refugio en mis momentos de duda, porque con nada pago el gran amor y cari˜no que me profesan sin esperar nada a cambio. Por ser una gu´ıa, ejemplo y motor impulsor en mi vida. A mis hermanas: Ivonne e Ivette Qu´epor todo y sobre todo han mostrado ser las mejores hermanas, porque demuestran su afecto y cari˜no con las cosas m´as b´asicas. A mis sobrinos: Iv´an Santiago David Con sus sonrisas me recuerdan que la vida es un juego. Agradecimientos A Dios, que me da la oportunidad de abrir los ojos a un nuevo d´ıatodos los d´ıas. Al CONACYT, por otorgarme una beca para poder realizar mis estudios de docto- rado. Al Dr. Pedro Castillo Garcia, que con su estilo muy particular de aconsejar..