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Inspection of the structural health of the bridge column is very important task but near-water surface region is dangerous for structural health monitoring robots due to water tides and spray. The unmanned surface vehicle with vertical thrusting function was developed to attach bridge column regardless of the surface status or material for close inspection and minimizing turbulence or external flow...
Clean water is a natural resource that is crucial for life but has very little protection. This was exemplified by the Gold King Mine spill on August 7, 2015, in which three million gallons of acidic mine drainage was released into the head waters of the Animas River. The Animas River is the source for five water supply systems, providing drinking water for tens of thousands of people and irrigation...
Multiple objective navigation is commonly found in practice, where a path for an autonomous vehicle needs to be generated to simultaneously optimize a number of different objectives such as distance, safety, and visibility. Objectives can be weighted to solve a single objective optimization problem but appropriate weights may not be known a priori. In this paper, we formulate a series of missions...
The paper presents a real-time and reliable communication system for a newly developed hybrid underwater robotic vehicle (HURV). The surface monitoring station of the HURV is linked with the onboard underwater control system by a fine and neutral buoyance fiber, which enables the state monitoring and tele-operation mode of the vehicle based on the industrial Ethernet Modbus/TCP via the fiber-optic...
The off-shore industry requires periodic monitoring of underwater infrastructure for preventive maintenance and security reasons. The tasks in hostile environments can be achieved automatically through autonomous robots like UUV, AUV and ASV. When the robot controllers are based on prespecified conditions they could not function properly in these hostile changing environments. It is beneficial to...
In this paper, we introduce the Lehigh Ocean Research Craft Autonomous (LORCA) — a high performance USV with applications to surveillance and monitoring tasks. Compact (1.2 m), lightweight (5 kg) and robust (one-piece carbon fiber design), LORCA is capable of speeds of 80 kph (50 mph). It was also designed to be capable of operations in ocean waves, with self-righting ability in all sea states. We...
The purpose of the paper is to discuss human centered design implications for shared decision making between humans and autonomous systems in complex environments. Design implications are generated based on empirical results from two research paradigms. In the first paradigm, an intelligent agent (Robo Leader) supervised multiple subordinate systems and was in turn supervised by the human operator...
In this paper, we describe the design, the development, and the sea trials of a novel small-sized autonomous surface vehicle (ASV) designed for monitoring the coastal water quality. The vehicle is characterized by the capability of measuring hydrocarbon and heavy metal concentrations directly onboard by means of custom-made miniaturized sensors. This capability, novel for an ASV, is combined with...
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,...
The proposed project shows the results obtained in the implementation and testing in lacustrine and marine environment of a nautical remote controlled vehicle with surface navigation and innovative features Semi-Immersible (SI-USV). This vehicle is based on a pending patent belonging to Palermo University (Patent Pending RM2012A000209 and RM2012A000209) concerning innovative semi-immersible vehicles...
This paper proposes a visual servoing system for a spherical underwater robot. Based on the spherical robot design, the forces and moments acting on it are analyzed and the governing motion equations are derived. The system consists of an on-board bottom facing camera module which is color coded to extract the position information and then guide the robot to follow the reference pattern placed at...
This work proposes the exploitation and results of Unmanned Surface Vehicles (USVs) for the bathymetric sampling application. In particular the paper reports the high-resolution data set collected during a first sampling campaign carried out in the Loano area (sited in Liguria region, Italy). The sampling campaign covered the Loano beach area which is characterized by a very shallow water area, thus...
A paper describes the multiagent system of aerial vehicles for difficult to access area's ecological monitoring. The main object of this systems applying is exploration of locality in case of technogenic accident and catastrophe, elemental calamity. The system is able to keep the formation during the movement on the optimal trajectory for the fastest exploration of locality. The group of agents is...
In this paper we consider the problem of monitoring a known set of stationary features (or locations of interest) in an environment. To observe a feature, a robot must visit its location. Each feature changes over time, and we assume that the currency, or accuracy of an observation decays linearly with time. Thus, robots must repeatedly visit the features to update their observations. Each feature...
Water, recognized as one of the most important and endangered resources to mankind, is very difficult to monitor in real time using conventional methods. Thanks to recent advancements in technology, the use of robots, able to fulfill missions such as sampling from aquatic environments, becomes feasible and can increase dramatically the quality of water monitoring. Due to the complications for the...
The following topics are dealt with: power distribution; power electronic applications; electronic devices; fault management; intelligent systems; sensor development; process control methods; vehicle technologies; safety monitoring system; intelligent control; power converters; signal processing application; control hardware applications; robotic systems; real-time embedded systems; electric motors;...
A general technique to build a dynamic and distributed intrusion detector for a class of multi-agent systems is proposed in this paper, by which misbehavior in the motion of one or more agents can be discovered. Previous work from the authors has focused on how to distinguish the behavior of a misbehaving agent in a completely distributed way, by developing a solution where agents act as local monitors...
This paper discusses the requirements, design, construction and development of the ALuminum Autonomous Navigator for Intelligent Sampling (ALANIS), an unmanned surface vehicle (USV) developed by the Autonomous robotic systems and control group of CNR-ISSIA Genova basically for coastal monitoring. The onboard automation system of the rubber boat shaped aluminum vessel manages the steering and throttle...
This study investigated the performance and workload of the combined position of gunner and robotics operator in a simulated military multitasking environment. Specifically, we investigated how aided target recognition (AiTR) capabilities for the gunnery task with imperfect reliability (false-alarm-prone vs. miss-prone) might affect the concurrent robotics and communication tasks. Additionally, we...
This paper considers a multi-agent system and focuses on the detection of motion misbehavior. Previous work by the authors proposed a solution, where agents act as local monitors of their neighbors and use locally sensed information as well as data received from other monitors. In this work, we consider possible failure of monitors that may send incorrect information to their neighbors due to spontaneous...
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