Journal articles: 'Underwater robotics'

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Yuh, J., and M. West. "Underwater robotics." Advanced Robotics 15, no. 5 (January 2001): 609–39. http://dx.doi.org/10.1163/156855301317033595.

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Yunanto, Bagus, and Naoyuki Takesue. "Experimental Development of Fins for Underwater Robots." Journal of Robotics and Mechatronics 35, no. 6 (December 20, 2023): 1638–44. http://dx.doi.org/10.20965/jrm.2023.p1638.

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In recent years, underwater robotics has become very important because it can be applied to various fields such as underwater exploration, underwater inspection, marine industry, and environmental monitoring. Fin plays an essential role in the movement of underwater robots, providing operation, control, and efficient propulsion. This research aims to design and develop a unique robotic fin for underwater robots to improve their handling and propulsion efficiency. The goal is to improve the power density and propulsion efficiency of underwater survey robots. The study is based on a comprehensive analysis of experience and a performance evaluation. Five types of tail fin models were used in the study. The experimental results showed that the performance of the fin design can be compared with existing configurations under different conditions. The best design parameters will be determined by analyzing the experimental results. The results of this study will contribute to underwater robotics by providing a concept of the principles of fin design and its impact on the performance of robotics.

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Keerthi, Koyippilly Satheesh, Bandana Mahapatra, and Varun Girijan Menon. "Into the World of Underwater Swarm Robotics: Architecture, Communication, Applications and Challenges." Recent Advances in Computer Science and Communications 13, no. 2 (June 3, 2020): 110–19. http://dx.doi.org/10.2174/2213275912666181129141638.

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Background: With the curiosity of exploring the underwater world, science has devised various technologies and machines that can help them in performing activities like exploring, navigating and plunging into the unknown world of oceanography. Underwater Robot or vehicle can be claimed as an outcome of extensive research done by the scientists who aimed at discovering the unknown mysterious world of ocean and how it can benefit humanity. Swarm robotics is an entirely new section of robotics that has been developed based on swarm intelligence. Considering the fact, swarm robotics being still in nuptial stage, researchers have provided immense contribution with an aim to develop this technology. The objective of the paper is to present a comprehensive review covering the various technical and conceptual aspects of underwater swarm robotic system. Methods: A systematic review on state-of-the-art has been performed where contributions of various researchers was considered. The study emphasis on the concepts, technical background, architecture and communication medium along with its applicability in various fields that also include various issues and challenges faced while attaining them. Results: The incorporation of swarm intelligence in underwater robotics provides a new angle altogether into the working pattern of underwater robotic system. Conclusion: The article is a systematic presentation of swarm robot technologies, their mechanisms, conceived and designed communication medium with respect to adaptability of the vehicle to the versatile nature of water. The paper delineates the various conceptual and technical details and its beneficence to humanity.

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Singh, Hanumant, and Vincent Rigaud. "Underwater robotics, editorial." Journal of Field Robotics 24, no. 6 (2007): 435–36. http://dx.doi.org/10.1002/rob.20203.

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Centelles, Diego, Antonio Soriano-Asensi, José Vicente Martí, Raúl Marín, and Pedro J. Sanz. "Underwater Wireless Communications for Cooperative Robotics with UWSim-NET." Applied Sciences 9, no. 17 (August 28, 2019): 3526. http://dx.doi.org/10.3390/app9173526.

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The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. This article also shows the results of three experiments that demonstrate the capabilities of UWSim-NET in modeling radio frequency (RF) and acoustic links in underwater scenarios. It also permits evaluating several MAC protocols such as additive links online Hawaii area (ALOHA), slotted floor acquisition multiple access (S-FAMA) and user defined protocols. A third experiment demonstrated the excellent capabilities of UWSim-NET in conducting hardware in the loop (HIL) experiments.

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Casalino, Giuseppe, Massimo Caccia, Stefano Caselli, Claudio Melchiorri, Gianluca Antonelli, Andrea Caiti, Giovanni Indiveri, et al. "Underwater Intervention Robotics: An Outline of the Italian National Project MARIS." Marine Technology Society Journal 50, no. 4 (July 1, 2016): 98–107. http://dx.doi.org/10.4031/mtsj.50.4.7.

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AbstractThe Italian national project MARIS (Marine Robotics for Interventions) pursues the strategic objective of studying, developing, and integrating technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities. These activities are becoming progressively more typical for the underwater offshore industry, for search-and-rescue operations, and for underwater scientific missions. Within such an ambitious objective, the project consortium also intends to demonstrate the achievable operational capabilities at a proof-of-concept level by integrating the results with prototype experimental systems.

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Nyrkov, A. P., A. A. Zhilenkov, V. V. Korotkov, S. S. Sokolov, and S. G. Chernyi. "Development of underwater robotics." Journal of Physics: Conference Series 803 (January 2017): 012108. http://dx.doi.org/10.1088/1742-6596/803/1/012108.

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Kawabata, Kuniaki, Fumiaki Takemura, Shinichi Sagara, Kazuo Ishii, and Teruo Fujii. "Special Issue on Underwater Robotics and Mechatronics." Journal of Robotics and Mechatronics 25, no. 5 (October 20, 2013): 771. http://dx.doi.org/10.20965/jrm.2013.p0771.

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With two-thirds of the earth covered by oceans, rivers, lakes, ponds, and glaciers – underwater work becomes specialized in often extreme environments that need unusual solutions. The unique techniques required are central to the major research and development fields of robotics and mechatronics. Research related to finding the resources and environmental observation makes underwater technology an attractive field for study. This issue covers advanced R&D in underwater robotics and mechatronics, their applications and uses. The 7 papers brought together introduce the latest in underwater robotics and mechatronics findings. Three are related to visual systems and image processing for underwater observation and inspection and visual survey. Three are related to designs for mechanisms enabling mobile manipulators, buoyancy control devices and deformable tensegrity structures for underwater vehicles. The last but not least paper implements control of underwater vehicles with passive thrusters. These cutting-edge presentations exploring underwater robotics and mechatronics are both innovative and interesting and may give you new ideas for your own work. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.

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Maevsky, Andrey, Vladislav Zanin, and Igor Kozhemyakin. "Promising high-tech export-oriented and demanded by the domestic market areas of marine robotics." Robotics and Technical Cybernetics 10, no. 1 (March 2022): 5–13. http://dx.doi.org/10.31776/rtcj.10101.

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In order to develop the Arctic zone of the Russian Federation, in the decree of the President of the Russian Federation, areas related to the development of the Northern Sea Route, environmental protection of the Arctic zone, an increase in the growth rate of geological research and the development of monitoring systems for the Arctic region were separately noted. Also in this document, the main tasks were identified that require careful study, namely: the development and implementation of technologies and equipment for use in Arctic conditions, the improvement of the environmental monitoring system, the use of modern information and communication technologies and communication systems for measurements from satellites, marine and ice platforms, research vessels, ground points and from observatories. These problems and tasks are already being successfully solved abroad with the help of the development of modern systems and devices used as part of marine robotic complexes (MRTC). This article provides a comprehensive analysis of the use of autonomous unmanned underwater vehicles (AUVs) as part of underwater resident systems. Particular attention is paid to the projects already implemented in the external market in the oil and gas industry. The authors present the implemented developments in the field of marine resident robotics in the Russian Federation. In conclusion, the authors for-mulated proposals for the development of the direction of marine robotics, including for solving problems associated with long-term monitoring and operation of the bottom oil and gas infrastructure. Key words Marine robotic complexes, AUV, resident robotics, seabed stations, underwater service work, underwater monitoring.

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Subad, Rafsan Al Shafatul Islam, Liam B. Cross, and Kihan Park. "Soft Robotic Hands and Tactile Sensors for Underwater Robotics." Applied Mechanics 2, no. 2 (June 8, 2021): 356–83. http://dx.doi.org/10.3390/applmech2020021.

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Research in the field of underwater (UW) robotic applications is rapidly developing. The emergence of coupling the newest technologies on submersibles, different types of telecommunication devices, sensors, and soft robots is transforming the rigid approach to robotic design by providing solutions that bridge the gap between accuracy and adaptability in an environment where there is so much fluctuation in object targeting and environmental conditions. In this paper, we represent a review of the history, development, recent research endeavors, and projected outlook for the area of soft robotics technology pertaining to its use with tactile sensing in the UW environment.

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Yamamoto, Ikuo, Nobuhiro Shin, Taishi Oka, and Miki Matsui. "Robotic Fish Technology and its Applications to Space Mechatronics." Applied Mechanics and Materials 527 (February 2014): 224–29. http://dx.doi.org/10.4028/www.scientific.net/amm.527.224.

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The authors have developed a shark ray robotic fish based on biomimetic approaches. The paper describes the newly developed robotic fish technology and its application to mechatronics in the space. It is found that robotic fish technology creates not only new underwater robotics, but also the next generation space mechatronics for geological survey of lunar/planets and dust cleaning in the space station.

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Solodikhina, Maria Vladislavovna, Anna Alexandrovna Solodikhina, and Ivan Sergeevich Semenyuk. "Ethical problems of underwater robotics." School and Industry, no. 4 (2020): 47–53. http://dx.doi.org/10.47639/0037-4024_2020_4_47.

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Corfield, Simon. "Underwater Robotics: Realising the Potential." Underwater Technology 21, no. 4 (March 1, 1996): 1–2. http://dx.doi.org/10.3723/175605496783328538.

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Fernández Perdomo, Enrique, Jorge Cabrera Gámez, Antonio Carlos Domínguez Brito, and Daniel Hernández Sosa. "Mission specification in underwater robotics." Journal of Physical Agents (JoPha) 4, no. 1 (2010): 25–33. http://dx.doi.org/10.14198/jopha.2010.4.1.05.

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Yuh, J. "Special issue on underwater robotics." Journal of Robotic Systems 8, no. 3 (June 1991): 291–93. http://dx.doi.org/10.1002/rob.4620080302.

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Maimon, Aurel Dan. "Underwater robotics – technical aspects on autonomous underwater inspection vehicle." Analele Universităţii "Dunărea de Jos" din Galaţi. Fascicula XI, Construcţii navale/ Annals of "Dunărea de Jos" of Galati, Fascicle XI, Shipbuilding 43 (December 15, 2020): 79–88. http://dx.doi.org/10.35219/annugalshipbuilding.2020.43.10.

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"This article is devoted to a state of the art on mobile multi-robot systems in the underwater domain. It start with the history of underwater robots as well as their applications in various fields, then focus on underwater vehicles different categories charactheristics and properties, their appearance and their applications. Subsequently, the design of an autonomous underwater inspection vehicle is presented together with its functions, movements and control system."

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Deshpande, Shubham, and Yara Almubarak. "Octopus-Inspired Robotic Arm Powered by Shape Memory Alloys (SMA)." Actuators 12, no. 10 (October 4, 2023): 377. http://dx.doi.org/10.3390/act12100377.

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Traditional rigid grippers that are used for underwater systems lack flexibility and have lower degrees of freedom. These systems might damage the underwater environment while conducting data acquisition and data sampling. Soft robotics, which is mainly focused on creating robots with extremely soft materials are more delicate for the grasping of objects underwater. These systems tend to damage the underwater ecosystem in the least possible way. In this paper, we have presented a simplified design of a soft arm inspired by the octopus arm actuated by coiled Shape Memory Alloys (SMAs) using completely flexible lightweight material. The characterization arm performance under various load and input current conditions is shown. We hope this work will serve as a basis for the future of underwater grasping utilizing soft robotics.

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Vukić, Z., M. Bariŝić, A. Vasilijević, and N. Miŝković. "Developing Croatian Underwater Robotics Research Potential." IFAC Proceedings Volumes 45, no. 27 (2012): 216–19. http://dx.doi.org/10.3182/20120919-3-it-2046.00037.

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Rozman, B. Ya, and A. V. Elkin. "AUTOMATIC CONTROL SYSTEM FOR UNDERWATER ROBOTICS." International Journal of Applied and Fundamental Research (Международный журнал прикладных и фундаментальных исследований), no. 11 2021 (2021): 87–92. http://dx.doi.org/10.17513/mjpfi.13318.

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Vukić, Zoran, and Nikola Mišković. "State and Perspectives of Underwater Robotics - Role of Laboratory for Underwater Systems and Technologies." Journal of Maritime & Transportation Science Special edition, no. 1 (April 2016): 15–27. http://dx.doi.org/10.18048/2016-00.15.

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The state and perspectives of underwater robotics is presented. The role and achievements of Laboratory for underwater systems and technologies (LABUST) in this domain is described. Two LABUST projects are shortly described.

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Den Ouden, Casey J., Paul S. Wills, Lucas Lopes, Joshua Sanderson, and Bing Ouyang. "Evolution of the Hybrid Aerial Underwater Robotic System (HAUCS) for Aquaculture: Sensor Payload and Extension Development." Vehicles 4, no. 2 (April 21, 2022): 390–408. http://dx.doi.org/10.3390/vehicles4020023.

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While robotics have been widely used in many agricultural practices such as harvesting, seeding, cattle monitoring, etc., aquaculture farming is an important, fast-growing sector of agriculture that has not seen significant adoption of advanced technologies such as robotics and the Internet of Things (IoT). In particular, dissolved oxygen (DO) monitoring, a practice in pond aquaculture essential to the health of the fish crops, remains labor-intensive and time-consuming. The Hybrid Aerial Underwater robotiCs System (HAUCS) is an IoT framework that aims to bring transformative changes to pond aquaculture. This paper focuses on the latest development in the HAUCS mobile sensing platform and field deployment. To address some shortcomings with the current implementation, the development of a novel rigid Kirigami-based robotic extension subsystem that can expand the functionality of the HAUCS platform is also being discussed.

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Martynov, V. L., I. L. Skripnik, Y. G. Ksenofontov, and M. S. Shimanskaya. "On-board electronic telecommunication equipment with laser illumination in integrated search systems of underwater vehicles." Informatization and communication 4 (April 2021): 20–28. http://dx.doi.org/10.34219/2078-8320-2021-12-4-20-28.

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The intensive development of autonomous underwater robotic complexes is very important for the development of the World Ocean. One of the main problems of using underwater robotic complexes is an increase searching efficiency of underwater devices based on the integration of the capabilities of onboard radio-electronic systems of obtaining information in various physical fields. Analyzing the physical basis of the search, including the consideration of the environment of its conduct, objects, as well as detection tools, it can be noted that the result of the search operations of the same objects in the same water areas for various underwater robotic complexes depends on what means of detection they are equipped. The presence of a certain set of the technical means will specify the development of the optimal sequence of actions of the search algorithm. The creation of such algorithms in relation to the task of increasing the search potential of underwater robotics will determine the direction of the research that ensures the formation of an optimal system of underwater search. Efficient use of search resources substantiates the conclusion that radio-electronic means of submersibles forming the system of underwater search, include the number of devices functionally interconnected for its effective conduct. The specified combination is aimed at the formation of the so-called integrated search system, which provides an exchange of information between different channels of searching devices about all objects detected. The article provides proposals for the creation of integrated search systems taking into account practical experiments and experience in designing underwater vehicles capable to implement the optimal system of underwater search using laser technologies.

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El-Fakdi, Andres, and Xavier Cufí. "An Innovative Low Cost Educational Underwater Robotics Platform for Promoting Engineering Interest among Secondary School Students." Electronics 11, no. 3 (January 26, 2022): 373. http://dx.doi.org/10.3390/electronics11030373.

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The presented article describes the design features of an educational robotics project addressed for secondary school students and carried out at the University of Girona (UdG). The project, called Underwater Robotics Workshop, is about the students building an underwater exploration robotic vehicle using low-cost materials. Its ultimate objective is to promote engineering interest among students and motivate them to direct their future studies towards engineering degrees. The main purpose of this article is to describe this activity and to promote it. Versatility and adaptation are key values as the activity has been designed to be adapted to convenience or replicated. It is a continuation work of a previously published articles, now describing different technological adaptations related to the design of the vehicle’s controller, and the gathered experiences from added workshop celebrations in the recent years. The workshop has been defined as a project-based learning approach where the students learn about physics, engineering, electronics, programming, and robotics, as well as to use all kinds of working tools, according to the maker philosophy. To date, the opinions collected from the participants encourage continuation of the activity and, at the same time, ask for the introduction of novelties to keep the workshop updated with the contents of the subjects related to technology and sciences. This project is being held for more than 13 years in the UdG. More than 800 secondary school students have participated in the activity, building about 200 underwater vehicles in more than 50 editions of the workshop.

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Blintsov, V. S., O. P. Klochkov, and P. S. Kucenko. "CLASSIFICATION CHARACTERISTICS OF UNMANNED TETHERED UNDERWATER SYSTEMS AS A COMPONENT OF IMPROVING THE EFFICIENCY OF THEIR DESIGN." Scientific Bulletin Kherson State Maritime Academy 1, no. 22 (2020): 86–98. http://dx.doi.org/10.33815/2313-4763.2020.1.22.086-098.

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The design stage is considered to be rather resource-intensive in the entire process of creating marine robotic technology. Therefore, the applied scientific task of reducing the resource costs for those processes is of high interest. Among other things, the time consumed for design stage has to be reduced by determining the design characteristics at an early stage of design. The approach considered to reduce such costs involves structuring the classification features of tethered underwater systems in such a way as to simplify the selection and justification of design solutions at the stage of preliminary system design. For design engineers of underwater equipment, the list of classification features of tethered self-propelled and those towed underwater systems has been suggested. The list is based on a system approach and is structured according to material, energy, information and operational (functional) criteria. All of that enables performing the comparative assessment of existing systems upon key indicators and formalizing the processes of their synthesis at early stages of design. To demonstrate the capabilities of the system approach, the generalized algorithm for the organization of design works using the system of classification features of tethered self-propelled and towed underwater systems at the early stages of their design. The algorithm involves the formation and structuring of many classification features of such systems as the initial stage of the process of making effective design decisions in the early stages of design of underwater robotics. It has been revealed that putting in use the classification features system in question, enables deploying minimal project resources to make reference to the relevant databases and decide on already-existing artifact projects and select out of those available in the underwater equipment market key components and parts of underwater systems which would satisfy the requirements of the technical task of implementing the tethered underwater systems. That would significantly reduce the prime cost of design works and enhance the competitiveness of domestic science-based achievements in the markets of marine robotics.

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Sun, Boai, Weikun Li, Zhangyuan Wang, Yunpeng Zhu, Qu He, Xinyan Guan, Guangmin Dai, et al. "Recent Progress in Modeling and Control of Bio-Inspired Fish Robots." Journal of Marine Science and Engineering 10, no. 6 (June 2, 2022): 773. http://dx.doi.org/10.3390/jmse10060773.

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Compared with traditional underwater vehicles, bio-inspired fish robots have the advantages of high efficiency, high maneuverability, low noise, and minor fluid disturbance. Therefore, they have gained an increasing research interest, which has led to a great deal of remarkable progress theoretically and practically in recent years. In this review, we first highlight our enhanced scientific understanding of bio-inspired propulsion and sensing underwater and then present the research progress and performance characteristics of different bio-inspired robot fish, classified by the propulsion method. Like the natural fish species they imitate, different types of bionic fish have different morphological structures and distinctive hydrodynamic properties. In addition, we select two pioneering directions about soft robotic control and multi-phase robotics. The hybrid dynamic control of soft robotic systems combines the accuracy of model-based control and the efficiency of model-free control, and is considered the proper way to optimize the classical control model with the intersection of multiple machine learning algorithms. Multi-phase robots provide a broader scope of application compared to ordinary bionic robot fish, with the ability of operating in air or on land outside the fluid. By introducing recent progress in related fields, we summarize the advantages and challenges of soft robotic control and multi-phase robotics, guiding the further development of bionic aquatic robots.

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Kia, Chua, and Mohd Rizal Arshad. "Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation." International Journal of Advanced Robotic Systems 2, no. 3 (September 1, 2005): 25. http://dx.doi.org/10.5772/5782.

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This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline) in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

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Lebedeva, Marina Petrovna, Aleksei Olegovich Lebedev, Nina Sergeevna Ageeva, and Artem Aleksandrovich Butsanets. "Shape of unmanned submersible hull taken as classification feature." Vestnik of Astrakhan State Technical University. Series: Marine engineering and technologies 2022, no. 4 (November 30, 2022): 7–18. http://dx.doi.org/10.24143/2073-1574-2022-4-7-18.

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Modern research in the field of oceanology in the Arctic region, studying the ice conditions, environmental and climatic monitoring, prospecting and hydrographic works, monitoring of extended bottom structures, oceano-graphic measurements, search for sunken objects, chemical and physical measurements of the aquatic environment, research of underwater objects and bottom topography cannot be imagined without the use of autonomous unmanned submersibles. Underwater robotics is rapidly developing. In the course of technological progress the scope of applications of autonomous unmanned submersible crafts has significantly expanded. The priority areas of robotics involve developing the intelligent methods and models to control operation of the autonomous submersibles in the extreme and uncertain environmental conditions, developing the architecture of autonomous submersibles, and solving problems of navigation and communication. Each class of autonomous submersible crafts has not only the advantages, but also the disadvantages that limit the scope of their application. Analysis and comparison of autonomous submersibles are carried out, the trends in their development are determined. The alternative classification of autonomous unmanned underwater crafts by the shape of the hull. Various versions of autonomous underwater vehicles and examples of underwater robotics are illustrated. Autonomous unmanned submersible crafts having a bluff shape, well-streamlined cylindrical shape, well-streamlined non-cylindrical shape, well-streamlined bionic shape are considered in detail, the system of control over the submersibles is analyzed.

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Bayat, Behzad, Julita Bermejo-Alonso, Joel Carbonera, Tullio Facchinetti, Sandro Fiorini, Paulo Goncalves, Vitor A. M. Jorge, et al. "Requirements for building an ontology for autonomous robots." Industrial Robot: An International Journal 43, no. 5 (August 15, 2016): 469–80. http://dx.doi.org/10.1108/ir-02-2016-0059.

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Purpose IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots. Design/methodology/approach For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making. Findings AuR has identified the core concepts and domains needed to create an ontology for autonomous robots. Practical implications AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance. Originality/value Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.

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Мартынов, В. Л., Н. М. Божук, Г. В. Ильин, Э. В. Кречетова, М. С. Шиманская, and Г. С. Шиманская. "Optimization of hydroacoustic information systems of underwater vehicles to improve the efficiency of underwater search." MORSKIE INTELLEKTUAL`NYE TEHNOLOGII)</msg>, no. 1(59) (March 4, 2023): 149–57. http://dx.doi.org/10.37220/mit.2023.59.1.019.

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Эффективность мероприятий, связанных с проведением подводного поиска робототехническими комплексами, базируются на оптимизации гидроакустических систем и реализуемых алгоритмах поиска. В свою очередь, такие алгоритмы, представляющие совокупность определенных действий, находятся в прямой зависимости от технической оснащенности подводной робототехники. В статье изложены особенности проведения поисковых мероприятий и соответствующие ему алгоритмы в зависимости от технической оснащенности подводных аппаратов. Проведён анализ применения систем технического зрения при проведении подводного поиска, а также анализ эффективности поисковых мероприятий гидроакустическими системами подводных аппаратов Рассмотрены вопросы их оптимизации на базе формирования узконаправленной характеристики направленности, изложены пути реализации этого. Исследованы последствия влияния помехи обратного рассеяния на эффективность систем подводного видения. Предложен способ определения трех пространственных координат объекта наблюдения, что может быть использовано для точного ориентирования на него телевизионных средств подводного видения для идентификации объекта наблюдения. Актуальность рассмотренных в статье вопросов оптимизации гидроакустических информационных систем не вызывает сомнений, так как их внедрение обеспечит повышение эффективности проведения подводного поиска по сравнению с существующими образцами подводной робототехники. The efficiency of activities related to the conduct of underwater search by robotic complexes is based on the optimization of hydroacoustic systems and search algorithms implemented. In turn, such algorithms, representing a set of certain actions, are directly dependent on the technical equipment of the underwater robotics. The article describes the peculiarities of the search activities and the corresponding algorithms, depending on the technical equipment of underwater vehicles. The analysis of the use of vision systems during underwater search, as well as the analysis of the effectiveness of search activities by hydroacoustic systems of underwater vehicles is carried out. The problems of their optimization on the basis of formation of narrow directional characteristic were considered, the ways of its realization were stated. The consequences of the influence of backscattering interference on the effectiveness of underwater vision systems are studied. A method for determining three spatial coordinates of an object of observation which can be used for precise orientation of underwater television means for identifying an object of observation is offered. Relevance of the issues of optimization of hydroacoustic information systems considered in the article does not cause doubts, as their introduction will provide increased efficiency of underwater search in comparison with the existing samples of underwater robotics.

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Dhole, Vedant V. ,. "UNDER WATER DRONE WITH CAMERA." International Scientific Journal of Engineering and Management 03, no. 03 (March 23, 2024): 1–9. http://dx.doi.org/10.55041/isjem01445.

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The integration of unmanned underwater vehicles (UUVs) with high-definition cameras has opened new frontiers in underwater exploration, surveillance, and environmental monitoring. This project aims to design and develop an underwater drone equipped with a sophisticated camera system for versatile underwater applications. The primary objective is to create a compact, maneuverable, and cost-effective UUV capable of capturing high-quality images and videos in diverse aquatic environments. Key Words: Underwater Drone, Arduino Uno, BLDC Motors, ESC, ESP32 Camera, Subaquatic Exploration, Marine Robotics.

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Barisic, Matko, Zoran Vukic, Nikola Miskovic, and Gyula Nagy. "Developing the Croatian Underwater Robotics Research Potential." IFAC Proceedings Volumes 43, no. 16 (2010): 431–36. http://dx.doi.org/10.3182/20100906-3-it-2019.00075.

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Williams, Stefan, Gamini Dissanayake, and Hugh Durrant-Whyte. "Towards terrain-aided navigation for underwater robotics." Advanced Robotics 15, no. 5 (January 2001): 533–49. http://dx.doi.org/10.1163/156855301317033559.

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Palli, Gianluca, Lorenzo Moriello, Umberto Scarcia, and Claudio Melchiorri. "An Intrinsic Tactile Sensor for Underwater Robotics." IFAC Proceedings Volumes 47, no. 3 (2014): 3364–69. http://dx.doi.org/10.3182/20140824-6-za-1003.02033.

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Rasheed, Ali, Rabee Hagem, AbdulSattar Khidhir, and Omar Hazim. "Underwater Robotics: Principles, Components, Modeling, and ‎Control." Al-Rafidain Engineering Journal (AREJ) 29, no. 1 (March 1, 2024): 154–76. http://dx.doi.org/10.33899/arej.2024.182561.

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Kurnosov, Andrey. "Robotics system interfaces – development trajectories." Robotics and Technical Cybernetics 8, no. 4 (December 30, 2020): 259–65. http://dx.doi.org/10.31776/rtcj.8402.

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The features of the creation of robotics system interfaces that provide effective interaction with external complex systems are considered. The features of complex systems, factors leading to the risky interaction of structures and processes are given. The main effects arising from information interaction of complex systems are listed. A scheme for monitoring the underwater information situation is given. The system interfaces of robotics are enumerated; the problems associated with their creation are given. An approach to the standardization of technical solutions for interfaces and the organization of system interfaces development is presented. A strategy is proposed that combines the advantages of the autonomous and systemic approaches. It is proposed to consider a horizontal network with self-organization and open access as a reasonable organizational development scheme. The need to concentrate efforts on the issues of compatibility, intelligence and physical simulation is noted. An option of experimental development of technical solutions using a modernized model of the underwater hangar developed by JSC SPMDB Malakhit is proposed.

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S, Simchenko, Klymenko M, Shevchenko A, and Simchenko I. "Modern electronics component base for building automated electronic systems with artificial intelligence." Artificial Intelligence 28, AI.2023.28(3) (November 30, 2023): 147–53. http://dx.doi.org/10.15407/jai2023.03.147.

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The article provides an overview of the prospects for the use of nanomaterials for solving modern tasks in robotics. A practical analysis of materials at the stage of designing structural elements as part of the development of a low-noise underwater unmanned aerial vehicle with artificial intelligence for reconnaissance and destruction of surface and underwater objects is demonstrated. The prospects of using nanotechnology to improve the characteristics of quantum converters are shown. An increase in sensitivity and an expansion of the spectral range of optical sensors have been established. The possibility of using such sensors in practical designs of robotics is shown

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Álvarez-Tuñón, Olaya, Alberto Jardón, and Carlos Balaguer. "Generation and Processing of Simulated Underwater Images for Infrastructure Visual Inspection with UUVs." Sensors 19, no. 24 (December 12, 2019): 5497. http://dx.doi.org/10.3390/s19245497.

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The development of computer vision algorithms for navigation or object detection is one of the key issues of underwater robotics. However, extracting features from underwater images is challenging due to the presence of lighting defects, which need to be counteracted. This requires good environmental knowledge, either as a dataset or as a physic model. The lack of available data, and the high variability of the conditions, makes difficult the development of robust enhancement algorithms. A framework for the development of underwater computer vision algorithms is presented, consisting of a method for underwater imaging simulation, and an image enhancement algorithm, both integrated in the open-source robotics simulator UUV Simulator. The imaging simulation is based on a novel combination of the scattering model and style transfer techniques. The use of style transfer allows a realistic simulation of different environments without any prior knowledge of them. Moreover, an enhancement algorithm that successfully performs a correction of the imaging defects in any given scenario for either the real or synthetic images has been developed. The proposed approach showcases then a novel framework for the development of underwater computer vision algorithms for SLAM, navigation, or object detection in UUVs.

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Wang, Ruilong, Ming Wang, Qianchuan Zhao, Yanling Gong, Lingchen Zuo, Xuehan Zheng, and He Gao. "A Novel Obstacle Traversal Method for Multiple Robotic Fish Based on Cross-Modal Variational Autoencoders and Imitation Learning." Biomimetics 9, no. 4 (April 8, 2024): 221. http://dx.doi.org/10.3390/biomimetics9040221.

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Precision control of multiple robotic fish visual navigation in complex underwater environments has long been a challenging issue in the field of underwater robotics. To address this problem, this paper proposes a multi-robot fish obstacle traversal technique based on the combination of cross-modal variational autoencoder (CM-VAE) and imitation learning. Firstly, the overall framework of the robotic fish control system is introduced, where the first-person view of the robotic fish is encoded into a low-dimensional latent space using CM-VAE, and then different latent features in the space are mapped to the velocity commands of the robotic fish through imitation learning. Finally, to validate the effectiveness of the proposed method, experiments are conducted on linear, S-shaped, and circular gate frame trajectories with both single and multiple robotic fish. Analysis reveals that the visual navigation method proposed in this paper can stably traverse various types of gate frame trajectories. Compared to end-to-end learning and purely unsupervised image reconstruction, the proposed control strategy demonstrates superior performance, offering a new solution for the intelligent navigation of robotic fish in complex environments.

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Mathew, Anup Teejo, Costanza Armanini, Aysha Ali Samra Ali Alshehhi, Ikhlas Mohamed Ben Hmida, and Federico Renda. "Multifunctional Underwater Soft Robots: A Simulation Essay." IOP Conference Series: Materials Science and Engineering 1261, no. 1 (October 1, 2022): 012008. http://dx.doi.org/10.1088/1757-899x/1261/1/012008.

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Abstract Underwater soft robotics is receiving growing popularity within the scientific community, thanks to its prospective capability of tackling challenges that are hard to deal with using traditional rigid technologies, especially while interacting with an unstructured environment. Recently, we proposed a multi-module underwater robotic system with deformable propellers, inspired by bacteria morphology [1]. Here, the same bio-inspired modular structure is employed to perform manipulation tasks, in order to design a multi-functional integrated system. Employing the Geometric Variable Strain Approach, we simulate a scenario where the flagellated robot moves towards a preferred target and, using the same soft appendages, it hooks to it, simulating a monitoring task. The modeling approach and the design allow the Embodied Intelligence principles to exploit the robot’s surrounding environment (water), the shape of the grip-target and the robot’s compliant nature to mediate effective navigation and safe interaction with the target, using few control inputs.

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Maimon, Aurel Dan. "About underwater robots and their application in hyperbaric welding." Analele Universităţii "Dunărea de Jos" din Galaţi Fascicula XI Construcţii navale/ Annals of "Dunărea de Jos" of Galati Fascicle XI Shipbuilding 45 (December 3, 2022): 73–80. http://dx.doi.org/10.35219/annugalshipbuilding/2022.45.08.

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The seabeds remain largely mysterious. However, their exploration and exploitation con-stitute major stakes for the future of our planet. The exploitation of their natural resources (fisheries and biological resources, minerals, oil and gas) and the study of their influence on the climate are unavoidable challenges if we want to offer a future to future generations. Advances in underwater robotics make it possible to envisage better knowledge and exploi-tation of this environment still inaccessible to humans. This article presents the current state of technology in underwater robotics, its civilian applications (current and affordable in the near future) mainly for autonomous and hyperbaric welding robots.

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Бельченко, Ф. М., И. Л. Ермолов, Г. Н. Нагайцев, and П. П. Остриков. "Specifics of underwater images transmission in marine robotics." MORSKIE INTELLEKTUAL`NYE TEHNOLOGII)</msg> 3, no. 4(62) (December 13, 2023): 62–67. http://dx.doi.org/10.37220/mit.2023.62.4.066.

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Телеуправляемые (дистанционно управляемые) роботы составляют значительную часть современного парка роботов и используются для разведки местности и контроля состояния важных объектов и инфраструктуры в подводной среде. Применение телеуправления с участием оператора связано с несовершенством современных автономных робототехнических комплексов, поскольку в определенных ситуациях необходимо быстро и точно принимать решения по управлению роботом. Человек в цепи управления подводным роботом является ключевым звеном. При этом он сильно ограничен техническими возможностями информационных средств, ему свойственно допускать ошибки принятия решений, подвержен стрессу, усталости. Следовательно, необходимо проводить разработки, облегчающие и повышающие эффективность работы оператора. В работе рассматриваются особенности проведения подводной съемки с помощью робототехнического комплекса. Изучены проблемы водной среды, влияющие на качество и достоверность отображения окружающего пространства. Отдельно рассмотрены вопросы восприятия информации оператором от системы телеметрии подводного робота. В настоящей работе также предложен ряд решений по совершенствованию систем телеметрии морских роботов. В качестве одного из решений предлагается применить наработки в области теории отображения перцептивного пространства, ранее успешно использовавшиеся в космической отрасли. Благодаря стремительному развитию и удешевлению систем технического зрения и видеонаблюдения, данные разработки стало возможно внедрять в морской робототехнике [1]. Teleoperated (remotely controlled) robots make up a significant part of the modern robot fleet and are used for terrain reconnaissance and monitoring the condition of important objects and infrastructure in the underwater environment. The use of telecontrol usage with the operator participation is associated with the modern autonomous robotic systems imperfections, since in certain situations it is necessary to quickly and accurately make robot control decisions. A person is a key link in the underwater robot control chain. At the same time, he is severely limited by the information sources technical capabilities, he tends to make decision-making errors, and is susceptible to stress and fatigue. Therefore, it is necessary make developments that make the operator's work easier and more efficient. Paper discusses underwater computer vision features of using a robotic complex. The problems of the aquatic environment that affect the quality and reliability of the surrounding space display have been studied. The operator information perception issues from the telemetry system of the underwater robot are considered separately. This work also proposes a number of solutions to improve the systems marine robots telemetry. As one of the solutions, it is proposed to apply developments in the field of the mapping perceptual space theory, previously successfully used in the space industry. Thanks to the rapid development and reduction in technical vision and video surveillance systems costs, these developments have become possible to implement in marine robotics

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Durga Deepak Valluri. "Integrating augmented reality, gesture recognition, and NLP for enhancing underwater human-robot interaction." International Journal of Science and Research Archive 11, no. 2 (March 30, 2024): 956–68. http://dx.doi.org/10.30574/ijsra.2024.11.2.0509.

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This paper presents an in-depth exploration into the integration of augmented reality (AR), gesture recognition, and natural language processing (NLP) to enhance human-robot interaction (HRI) within the context of underwater robotics. It highlights the significant potential these technologies hold in addressing the unique challenges faced in underwater environments, such as limited visibility, complex navigation, and the need for precise, intuitive communication between divers and robots. By reviewing current technological advancements and applications, the study underscores the critical role of AR in providing real-time visual feedback, gesture recognition in enabling more natural control mechanisms, and NLP in facilitating voice-driven commands and interactions. The research further discusses the development of a conceptual framework for an AR-based intuitive interface that synergizes gesture recognition and NLP, aiming to revolutionize underwater HRI by making it more efficient, safe, and user-friendly. Through this investigation, the paper seeks to contribute to the advancement of underwater robotics, proposing innovative solutions that could significantly improve human-robot collaboration in challenging aquatic missions.

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Chiarella, Davide. "Towards Multi-AUV Collaboration and Coordination: A Gesture-Based Multi-AUV Hierarchical Language and a Language Framework Comparison System." Journal of Marine Science and Engineering 11, no. 6 (June 10, 2023): 1208. http://dx.doi.org/10.3390/jmse11061208.

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The underwater environment is a harmful environment, yet one of the richest and least exploited. For these reasons the idea of a robotic companion with the task of supporting and monitoring divers during their activities and operations has been proposed. However, the idea of a platoon of robots at the diver’s disposal has never been fully addressed in these proposals due to the high cost of implementation and the usability, weight and bulk of the robots. Nevertheless, recent advancements in swarm robotics, materials engineering, deep learning, and the decreasing cost of autonomous underwater vehicles (AUVs), have rendered this concept increasingly viable. Therefore, this paper introduces, in the first part, a novel framework that integrates a revised version of a gesture-based language for underwater human–robot interaction (Caddian) based on insights gained from extensive field trials. The newly introduced objective of this framework is to enable the cooperation and coordination of an AUV team by one or more human operators, while allowing a human operator to delegate a robot leader to instruct the other robotic team members. The work, in the second part, provides an evaluation of the new language proposed thanks to a fifty million sentence corpus and describes a comparison framework, which is used to estimate it with respect to other existing underwater human–robot interaction languages.

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Nikushchenko, Dmitry, Andrey Maevskiy, Igor Kozhemyakin, Vladimir Ryzhov, Artem Goreliy, and Timofey Sulima. "Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems." Journal of Marine Science and Engineering 10, no. 10 (October 19, 2022): 1531. http://dx.doi.org/10.3390/jmse10101531.

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Glider-type autonomous underwater vehicles are today one of the most promising areas of marine robotics. This is confirmed by the frequent and remarkable results of various research missions and projects. The cumulative group application of underwater and no less innovative wave gliders can significantly reduce the time of obtaining oceanographic data. Together with wave gliders, one group of such robotic objects can significantly increase the efficiency, time and volume of obtaining oceanographic data. There is big interest in increasing the functionality of such a group. This article presents one of the possible alternatives to increase the functionality of a group of underwater and waveguide hang gliders. We present the process of upgrading the existing design, control algorithms and software of the SHADOW underwater glider, which was developed by the teams of the St. Petersburg State Marine Technical University (SMTU) and Okeanos JSC in order to jointly study the monitoring of underwater potentially dangerous objects with the St. Petersburg State Fire Service EMERCOM of Russia. A structural-functional approach to the group application of underwater and waveguides is also proposed, which is capable of providing oceanographic, meteorological and environmental monitoring data online, based on the developed multilayer system for planning the trajectories of group movement of objects. The results of full-scale sea trials and the developed algorithms are demonstrated.

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Herrero-Pérez, David, and Humberto Martínez-Barberá. "Soft Gripper Design and Fabrication for Underwater Grasping." Applied Sciences 12, no. 21 (October 22, 2022): 10694. http://dx.doi.org/10.3390/app122110694.

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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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Vicerra, Ryan Rhay P., and Elmer P. Dadios. "Slime Mold Inspired Swarm Robot System for Underwater Wireless Data Communication." Journal of Advanced Computational Intelligence and Intelligent Informatics 20, no. 1 (January 19, 2016): 92–99. http://dx.doi.org/10.20965/jaciii.2016.p0092.

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Swarm robotics is a collection of mobile robots that displays swarm behavior. This paper presents a simulator of slime mold amoeba inspired swarm robot for underwater wireless communication system. The slime mold inspired robotic swarm is used to overcome the challenges of transmitting data in a large underwater environment. Underwater communication systems today are primarily acoustic technology and characterized by limited and distance dependent bandwidth, presence of multipath, and low speed of sound propagation. The robots navigate and seek the shortest path creating a virtual connection between the data transmitter and receiver similar to the foraging behavior of swarms. Each individual robot going back and forth from the transmitter to the receiver and vice-versa acts as a “physical” carrier of the data. Swarm robots navigate using swarm level intelligence based on the signal propagation technique used by slime mold amoeba aggregation using acoustics communication. The robot swarm system is developed, simulated and tested using the coded simulator. Using the slime mold inspired swarm robot system; the simulation successfully performed the data “foraging” scenario and showed the ability of the swarm to provide a virtual link in an underwater wireless communication network.

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Bingham, Brian S., Jeffrey M. Walls, and Ryan M. Eustice. "Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications." Marine Technology Society Journal 45, no. 3 (May 1, 2011): 25–36. http://dx.doi.org/10.4031/mtsj.45.3.4.

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AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.

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Ji, Daxiong, Haichao Li, Chen-Wei Chen, Wei Song, and Shiqiang Zhu. "Visual detection and feature recognition of underwater target using a novel model-based method." International Journal of Advanced Robotic Systems 15, no. 6 (November 1, 2018): 172988141880899. http://dx.doi.org/10.1177/1729881418808991.

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Imaging is an important means to explore the ocean for underwater robotics. The diffuse attenuation coefficient of light in water is one of the most important optical properties of seawater. This article presents a model-based method to analyze the causes of distortion of underwater images. We built a platform for underwater image acquisition and target recognition. The model coefficients were calibrated with images captured underwater and in air. Experiments were carried out to verify the designed algorithm and the transmission error model. The experiments show that the presented method works well in improving the accuracy of feature extraction and recognition of underwater targets.

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Gallett, I. N. L. "$10 Oil: Is Underwater Robotics an Answer? Report of a Workshop on Autonomous Underwater Vehicles and Other Underwater Robotics, held 17 June 1999, London, UK." Underwater Technology 24, no. 2 (September 1, 1999): 85–88. http://dx.doi.org/10.3723/175605499783259776.

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Li, Xin, José-Fernán Martínez, Jesús Rodríguez-Molina, and Néstor Martínez. "A Survey on Intermediation Architectures for Underwater Robotics." Sensors 16, no. 2 (February 4, 2016): 190. http://dx.doi.org/10.3390/s16020190.

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Journal articles on the topic 'Underwater robotics'

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