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Articoli di riviste sul tema "Underwater intervention task"

Autore: Grafiati

Pubblicato: 4 giugno 2021

Ultima modifica: 8 febbraio 2022

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1

Simetti, E., G. Casalino, F. Wanderlingh, and M. Aicardi. "Task priority control of underwater intervention systems: Theory and applications." Ocean Engineering 164 (September 2018): 40–54. http://dx.doi.org/10.1016/j.oceaneng.2018.06.026.

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2

Topini, Edoardo, Marco Pagliai, and Benedetto Allotta. "Dynamic Maneuverability Analysis: A Preliminary Application on an Autonomous Underwater Reconfigurable Vehicle." Applied Sciences 11, no. 10 (2021): 4469. http://dx.doi.org/10.3390/app11104469.

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Abstract (sommario):

Since the development of the first autonomous underwater vehicles, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations, in addition to surveys. As a result, the development of autonomous underwater reconfigurable vehicles (AURVs) with the capability of interacting with the surrounding environment and autonomously changing the configuration, according to the task at hand, can represent a real breakthrough in underwater system technologies. Driven by these considerations, an innovative AURV

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3

Cho, Gun-Rae, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim, and Ji-Hong Li. "Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks." Journal of Marine Science and Engineering 9, no. 5 (2021): 483. http://dx.doi.org/10.3390/jmse9050483.

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In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated experimentally. The key idea behind the assistance technique is to operate the manipulator by touching several points on the camera images. To implement the idea, the positio

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4

Furferi, Rocco, Roberto Conti, Enrico Meli, and Alessandro Ridolfi. "Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks." International Journal of Advanced Robotic Systems 13, no. 6 (2016): 172988141665793. http://dx.doi.org/10.1177/1729881416657931.

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An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in

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5

Carrera, A., S. R. Ahmadzadeh, A. Ajoudani, P. Kormushev, M. Carreras, and D. G. Caldwell. "Towards Autonomous Robotic Valve Turning." Cybernetics and Information Technologies 12, no. 3 (2012): 17–26. http://dx.doi.org/10.2478/cait-2012-0018.

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Abstract In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisio

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6

Kapetanović, Nadir, Antonio Vasilijević, Đula Nađ, Krunoslav Zubčić, and Nikola Mišković. "Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep." Remote Sensing 12, no. 23 (2020): 3902. http://dx.doi.org/10.3390/rs12233902.

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Underwater cultural heritage sites are subject to constant change, whether due to natural forces such as sediments, waves, currents or human intervention. Until a few decades ago, the documentation and research of these sites was mostly done manually by diving archaeologists. This paper presents the results of the integration of remote sensing technologies with autonomous marine vehicles in order to make the task of site documentation even faster, more accurate, more efficient and more precisely georeferenced. It includes the integration of multibeam sonar, side scan sonar and various cameras

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7

Wu, Li Hong, Wen Hai Xu, and Wenbo Wang. "Survey of Seafloor Targets with Varied Sizes by Multi Beam Sonar in Different Depth Water." Applied Mechanics and Materials 263-266 (December 2012): 909–14. http://dx.doi.org/10.4028/www.scientific.net/amm.263-266.909.

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Multi beam sonar needs complex data processing lying on human intervention to get accurate depth contour and low accuracy in sonar image which prevent its popular use in surveying seafloor targets. To survey seafloor target in different depth by GeoSwath, this article presents survey parameter setting method such as ping length, ship velocity to increase points over targets, navigation line parallel to heading of target during survey, adopting along track filter to depth data processing and using TVG control over amplitude data to get accurate depth grid and sonar image of seafloor target. Fin

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8

Martin-Abadal, Miguel, Manuel Piñar-Molina, Antoni Martorell-Torres, Gabriel Oliver-Codina, and Yolanda Gonzalez-Cid. "Underwater Pipe and Valve 3D Recognition Using Deep Learning Segmentation." Journal of Marine Science and Engineering 9, no. 1 (2020): 5. http://dx.doi.org/10.3390/jmse9010005.

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During the past few decades, the need to intervene in underwater scenarios has grown due to the increasing necessity to perform tasks like underwater infrastructure inspection and maintenance or archaeology and geology exploration. In the last few years, the usage of Autonomous Underwater Vehicles (AUVs) has eased the workload and risks of such interventions. To automate these tasks, the AUVs have to gather the information of their surroundings, interpret it and make decisions based on it. The two main perception modalities used at close range are laser and video. In this paper, we propose the

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9

Bonin-Font, Francisco, Gabriel Oliver, Stephan Wirth, Miquel Massot, Pep Lluis Negre, and Joan-Pau Beltran. "Visual sensing for autonomous underwater exploration and intervention tasks." Ocean Engineering 93 (January 2015): 25–44. http://dx.doi.org/10.1016/j.oceaneng.2014.11.005.

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10

Kumar, Dr A. Dinesh. "Underwater Gripper using Distributed Network and Adaptive Control." Journal of Electrical Engineering and Automation 2, no. 1 (2020): 43–49. http://dx.doi.org/10.36548/jeea.2020.1.005.

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Underwater identification and grasping of objects is a major challenge faced by the marine engineers even today. Nowadays, almost all underwater operations are either autonomous or tele-operated. In fact remotely operated vehicles (ROVs) are used to deal with inspection tasks and industrial maintenance whenever there is need for intervention. However, the field of autonomous underwater vehicle (AUV) is a blooming filed with research involving proper moving base control and forces interacting which leads to complicated configuration. Hence the presented work is focused implementation of end-eff

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11

Wang, Junli, Shitong Wang, and Wenhao Leng. "Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator." Mathematical Problems in Engineering 2021 (February 22, 2021): 1–12. http://dx.doi.org/10.1155/2021/6656928.

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Work class remote operated vehicles (ROVs) are generally equipped with underwater manipulators and are widely used in underwater intervention and maintenance tasks. As the load of underwater operation is relatively heavy, most commercial underwater manipulators are hydraulically actuated and are not equipped with any sensor for joint angles to keep their architectures compact. Therefore, the automatic control methods widely used in industrial robots cannot be simply applied to underwater manipulators. In this paper, an estimation method on joint angles of manipulator is presented, in which sev

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12

Chavez, Arturo Gomez, Christian A. Mueller, Tobias Doernbach, and Andreas Birk. "Underwater navigation using visual markers in the context of intervention missions." International Journal of Advanced Robotic Systems 16, no. 2 (2019): 172988141983896. http://dx.doi.org/10.1177/1729881419838967.

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Intervention missions, that is, underwater manipulation tasks, for example, in the context of oil-&-gas production, require a high amount of precise, robust navigation. In this article, we describe the use of an advanced vision system suited for deep-sea operations, which in combination with artificial markers on target structures like oil-&-gas production-Christmas-trees significantly boosts navigation performance. The system is validated in two intensive field tests running off the shore of Marseille, France. In the experiments, a commercial remotely operated vehicle equipped with th

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13

de la Cruz, Marcos, Gustavo Casañ, Pedro Sanz, and Raúl Marín. "Preliminary Work on a Virtual Reality Interface for the Guidance of Underwater Robots." Robotics 9, no. 4 (2020): 81. http://dx.doi.org/10.3390/robotics9040081.

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Abstract (sommario):

The need for intervention in underwater environments has increased in recent years but there is still a long way to go before AUVs (Autonomous Underwater Vehicleswill be able to cope with really challenging missions. Nowadays, the solution adopted is mainly based on remote operated vehicle (ROV) technology. These ROVs are controlled from support vessels by using unnecessarily complex human–robot interfaces (HRI). Therefore, it is necessary to reduce the complexity of these systems to make them easier to use and to reduce the stress on the operator. In this paper, and as part of the TWIN roBOTs

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14

Veiga Almagro, Carlos, Giacomo Lunghi, Mario Di Castro, et al. "Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios." Applied Sciences 10, no. 17 (2020): 6144. http://dx.doi.org/10.3390/app10176144.

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The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans. However, currently available robotic systems lack that level of usability which would allow inexperienced operators to accomplish complex tasks. Moreover, the task’s complexity increases drastically when a single operator is required to control multiple remote agents (for example, when picking up and transporting big objects). In this paper, a system allowing an operator to prepare and configure cooperative behaviours for multiple remote agent

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15

Kaur, Gurjaspreet, Surinder Singh, Ramanpreet Kaur, and Gaurav Garg. "Underwater Self Deployment of Wireless Sensors for Maximum Coverage and Connectivity using K-Means Clustering." International Journal of Engineering & Technology 7, no. 2.11 (2018): 5. http://dx.doi.org/10.14419/ijet.v7i2.11.10997.

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By virtue of abundant research being executed in terrestrial wireless sensor networks, we get enlightened about the different advantages of using wireless sensors and implemented these wireless sensors in underwater to probe the area below the sea for its various applications. The most crucial task in underwater 3D space is the node deployment such that sensors can cover the maximum area while simultaneously maintaining the connectivity with the base station. Due to the advantages of self deployment where no pre calculations and no human interventions are needed, we proposed a distributed move

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16

Lucas Martínez, Néstor, José-Fernán Martínez-Ortega, Jesús Rodríguez-Molina, and Zhaoyu Zhai. "Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles." Applied Sciences 10, no. 3 (2020): 855. http://dx.doi.org/10.3390/app10030855.

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In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deployed, the AUV waits for a start command to begin the execution of the plan. An onboard mission manager is responsible for handling the events that may prevent the AUV from following the plan. This approach considers the management of the mission only at the vehicle level. However, the use of a mission-level manager in coordination with the onboard m

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17

Maki, Toshihiro, Yoshiki Sato, Takumi Matsuda, Kotohiro Masuda, and Takashi Sakamaki. "Docking Method for Hovering-Type AUVs Based on Acoustic and Optical Landmarks." Journal of Robotics and Mechatronics 30, no. 1 (2018): 55–64. http://dx.doi.org/10.20965/jrm.2018.p0055.

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Autonomous underwater vehicles (AUVs) have the advantage of not requiring tether cables or human control; however, they have limited energy, and must be recovered before their batteries drain completely. To charge AUV batteries efficiently, in-situ charging systems have attracted much attention. This study proposes a method for hovering-type AUVs to dock at a seafloor station, for long-term deployment of the system with minimum human intervention. In the proposed method, an AUV docks at a seafloor station autonomously, based on both acoustic and optical landmarks attached to the station. The A

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18

Di Lillo, Paolo Augusto, Enrico Simetti, Daniela De Palma, et al. "Advanced ROV Autonomy for Efficient Remote Control in the DexROV Project." Marine Technology Society Journal 50, no. 4 (2016): 67–80. http://dx.doi.org/10.4031/mtsj.50.4.8.

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AbstractIn this paper, we present DexROV, an EC Horizon 2020-funded project that proposes to implement novel operation strategies for underwater semiautonomous interventions. These costly and demanding operations are increasingly performed by remotely operated vehicles (ROVs), contributing to risk cutting for human divers. However, ROV operations require offshore structures, hosted on a support vessel with a crew of a significant amount of personnel necessary to properly handle and operate the robotic platform. One of the key goals of DexROV is to delocalize on shore the manned support as much

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19

Ide, Hideto. "Special Issue on Biomechatronics." Journal of Robotics and Mechatronics 6, no. 1 (1994): 1. http://dx.doi.org/10.20965/jrm.1994.p0001.

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We are now entering the 21st century. With the aging society having a life expectancy of 80, various problems have emerged. If we can live until 80 without any physical trouble, we will be the happiest. Who take care of the elderly? The children or a spouse? The answer is neither. Everyone will have to be responsible for himself or herself. However, this will be impossible if their physical problems are involved. Then who ? Robots will do the job. It is necessary to develop warmhearted robots that are similar to grandchildren or other loved ones. At present, robots play a significant and remar

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20

Jim, Danny, Loretta Joseph Case, Rubon Rubon, Connie Joel, Tommy Almet, and Demetria Malachi. "Kanne Lobal: A conceptual framework relating education and leadership partnerships in the Marshall Islands." Waikato Journal of Education 26 (July 5, 2021): 135–47. http://dx.doi.org/10.15663/wje.v26i1.785.

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Education in Oceania continues to reflect the embedded implicit and explicit colonial practices and processes from the past. This paper conceptualises a cultural approach to education and leadership appropriate and relevant to the Republic of the Marshall Islands. As elementary school leaders, we highlight Kanne Lobal, a traditional Marshallese navigation practice based on indigenous language, values and practices. We conceptualise and develop Kanne Lobal in this paper as a framework for understanding the usefulness of our indigenous knowledge in leadership and educational practices within for

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21

"Performance Comparison of Convolutional Neural Network-based model using Gradient Descent Optimization algorithms for the Classification of Low Quality Underwater Images." Issue 4, Volume 5 (October 15, 2020): 227–36. http://dx.doi.org/10.46243/jst.2020.v5.i5.pp227-236.

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Underwater imagery and analysis plays a major role in fisheries management and fisheries science helping developing efficient and automated tools for cumbersome tasks such as fish species identification, stock assessment and abundance estimation. Majority of the existing tools for analysis still leverage conventional statistical algorithms and handcrafted image processing techniques which demand human interventions and are inefficient and prone to human errors. Computer vision based automated algorithms need a better generalisation capability and should be made efficient to address the ambigui

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22

Kalyayev, A. "Security and defense forces in military security system of the state." Democratic governance, no. 26 (April 8, 2021). http://dx.doi.org/10.33990/2070-4038.26.2020.228508.

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Problem setting. The relevance of the article is confirmed by the fact that the interaction between the main components of the Security and Defense Sector of Ukraine, namely the security forces and defense forces, in both peacetime and wartime, is the main condition for national (state) security. The problem of the Security and Defense Forces development is at the planning stage, as, given their current state, there are still many shortcomings in the actions of the state leadership and the governing bodies of the Security and Defense Sector. With the adoption of the new version of the National

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