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This paper proposes a novel approach for constructing a docking path for underwater vehicles, using a new spiral resulting of combining the Fermat and logarithmic spirals. The proposed spiral path has two properties that will help solve some of the challenges of docking autonomous underactuated vehicles (AUVs). The first property is that the spiral path reaches the entrance of the docking station...
Roads accidents account for the highest percentage of fatalities in the world. These mortality rates are also increasing due to negligence and lack of proper care within sufficient time for the victims. The fact that the victim may be unnoticed or unreachable is majorly due to traffic blocks, adverse climatic conditions, improper terrain conditions etc. Unmanned Aerial Vehicles (UAVs) could be used...
Autonomous underwater vehicles (AUVs) have advantage that they do not require tether cables or human control. AUVs have recently been used for seafloor observation. However, AUVs have limitation of their batteries. AUVs must be recovered before they have run out of batteries. In order to charge batteries of AUVs, underwater charging systems have attracted a lot of attention. We have developed the...
The concept of underwater docking stations has long been proposed to support the long term deployment of AUVs, but the number of successful solutions is still very disappointing. Hovering type AUVs can navigate arbitrarily slow, simplifying the docking maneuver and the requirements for the receiving structure. This paper describes a docking system that was developed to extend the mission duration...
This work presents a multi-sensor fusion approach for an electronic navigation aid for the blind and visually impaired persons. This approach proposes to intelligently fuse the surrounding information senses via ultrasonic sensors and vision sensors. The intelligent component of the prototype serves in several facets including object detection and recognition. Extended Kalman filter is used to fuse...
This paper presents the latest results of sea experiments and tank tests on the navigation method for wide-area surveys of the seafloor using multiple autonomous underwater vehicles (AUVs). Each AUV alternately becomes a landmark, which remains stationary on the seafloor, while the other AUVs can navigate over a wide area with high positioning accuracy based on the landmark AUV. Unlike conventional...
This paper presents an indoor navigation wearable system based on visual markers recognition and ultrasonic obstacles perception used as an audio assistance for blind people. In this prototype, visual markers identify the points of interest in the environment; additionally this location status is enriched with information obtained in real time by other sensors. A map lists these points and indicates...
Visual impairment or vision loss is the main reason for reduced mobility in humans. Visually Impaired (VI) people require continuous assistance during their movement. Researchers and scientists have put many solutions to assist those people in the activities of their daily living (ADL). The current research delivers a novel indoor navigation system for visually impaired people. The proposed solution...
Assistive technologies in the medical industry have been on an ever increasing trend in the past few years. The past few years have seen some great medical innovations which are helping cure and prevent diseases which were earlier thought incurable. Despite such huge improvements, many of the engineering innovations are yet to be realized to its full potential in the medical industry. The field of...
According to a report by World Health Organization [1] there is an estimated 39 million of blind people and about 285 million who are visually impaired. I was motivated to do this research when one day I saw a blind man walking in Holborn alone and asking people for help to cross the road. There is a lot of research in regards to this problem however, it is not enough. Hence, the OARC System was created...
The Singapore Autonomous Underwater Vehicle Challenge, dubbed as SAUVC, is an effort by the IEEE Oceanic Engineering Society Singapore Chapter to engage and expose the tertiary students to the challenges of AUV design. The programme was started in 2013 and was originally intended to create awareness among the local students on the importance of underwater robotics and its relevance to Singapore. However,...
This paper reports the results of the sea experiments and the performance verification of the navigation method for wide area survey of seafloor using multiple autonomous underwater vehicles (AUVs). It has been difficult for conventional navigation methods such as dead reckoning or inertial navigation to achieve wide area survey with high positioning accuracy by only AUVs. In the method, as the AUVs...
This paper addresses an agent and high resolution image sonar based underwater vehicle's localization method for underwater docking. A novel concept of AUV docking system is proposed. The agent and the support AUV are connected with a tether. For sensing, the agent uses the optical camera and the AUV uses the image sonar. For the agent's localization, the AUV's image sonar guides the agent, wide range...
Various modes of sensory feedback have the potential to improve robotic navigation performance. This paper proposes a novel way of using auditory feedback as a substitute for visual feedback to ensure that teleoperated robotic systems still function in real time under unfavorable communication conditions, such as with image losses, visual failures, or low-bandwidth communication links. The proposed...
In this paper, a new approach for detecting alive humans in destructed environments using an autonomous robot is proposed. Human detection in an unmanned area can be done only by an automated system. Alive human body detection system proposed a monitoring system using ultrasonic sensors and camera to record, transmit and analyze conditions of human body. The task of identify human being in rescue...
JAMSTEC has been developing two-type autonomous underwater vehicles (AUVs): a cruising AUV and a working AUV, since last October. These vehicles will perform carbon dioxide (CO2) observations and hydrothermal plume exploration up to depth of 3,000 meters. The cruising AUV (about 4 m long, 2 tons in weight) is equipped with three major observation devices: a multi-beam echo sounder, side-scan sonar,...
This paper deals with the design and implementation of the device aimed at navigation of visually impaired people. First part of the article presents a review of existing assistance devices for visually impaired, in the second part follows description of the system using low-cost input and output personal computer interfaces (joystick, video grabbers, NVIDIA 3D Vision) and description of design of...
This paper presents a new prototype for being used as a travel aid for blind people. The system is developed to complement traditional navigation systems such as white cane and guide dogs. The system consists of two stereo cameras and a portable computer for processing the environmental information. The aim of the system is to detect the static and dynamic objects from the surrounding environment...
The objective of this paper is to develop a Mobile Robot Navigation and Localization Based on Floor Plan Map Information and Sensory Fusion approach. We have developed map recognition algorithm for recognizing the floor plan and high level multi-sensor topological navigation system utilizing the information to perform navigation tasks. In our algorithm, robot can recognize the floor plan to get enough...
With the development of advanced human-machine interface, effective information processing algorithms, and more powerful microprocessors, it is possible to enable the blind to achieve additional perception of the environment. In 1970s, the blind-assistant facility based on sensory substitution was introduced. It called as ETA (short for Electronic Travel Aids), bases on the other natural senses of...
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