Marine Robot Autonomy

Author : Mae L. Seto
Publisher : Springer Science & Business Media
ISBN 13 : 1461456592
Total Pages : 390 pages
Book Rating : 4.99/5 ( download)

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Download or read book Marine Robot Autonomy written by Mae L. Seto and published by Springer Science & Business Media. This book was released on 2012-12-09 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required. Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.

Author : Fumin Zhang
Publisher :
ISBN 13 : 9781680832334
Total Pages : 115 pages
Book Rating : 4.36/5 ( download)

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Download or read book Cyber-maritime Cycle written by Fumin Zhang and published by . This book was released on 2016 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: Marine robots are playing important roles in environmental sensing and ocean observation applications. This tutorial introduces the overall systems architecture and patterns for data streams that enable autonomy for marine robots in environmental sensing applications. The article proposes the concept of cyber-maritime cycle and surveys its use as a recent development in marine robotics. Supported by communication networks, autonomy can be achieved using at least three feedback loops in a cyber-maritime cycle, each running at different time scales or temporal frequencies. When information is circulating around the cycle, it is transformed between two representations: the Lagrangian view and the Eulerian view. Important functional blocks, such as mission planning, path planning, data assimilation, and data-driven modeling are discussed as providing conversions between the two views of data. The tutorial starts with an overview of enabling technologies in sensing, navigation, and communication for marine robotics. The design of experiment method is then reviewed to plan optimal sensing locations for the robots. The tutorial discusses a class of path planning methods that produces desired trajectories of marine robots while combating ocean current. The lack of an accurate Eulerian map for ocean current will lead to tracking error when robots attempt to follow the planned paths to collect Lagrangian data. The performance of robot navigation can be evaluated through the controlled Lagrangian particle tracking method, which computes trends and bounds for the growth of the tracking error. To improve the accuracy of the Eulerian map of ocean current, a data-driven modeling approach is adopted. Data assimilation methods are leveraged to convert Lagrangian data into Eulerian map. In addition, the spatial and temporal resolution of Eulerian data maps can be further improved by the motion tomography method. This tutorial gives a comprehensive view of data streams and major functional blocks underlying autonomy of marine robots.

Author : Thomas Glotzbach
Publisher : Springer Nature
ISBN 13 : 3658301090
Total Pages : 366 pages
Book Rating : 4.95/5 ( download)

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Download or read book Navigation of Autonomous Marine Robots written by Thomas Glotzbach and published by Springer Nature. This book was released on 2020-04-30 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thomas Glotzbach spotlights that navigation within marine robotics can benefit from cooperative teams in a way that justifies the increased effort to operate several vehicles at once. He features discussions of different scenarios, modeling of systems, and estimation algorithms for comparable situations. The chapter on the used methodologies may allow a reader with only basic knowledge in control theory to obtain deeper insight in advanced concepts such as observability and state estimation, even without any background in marine robotics.

Author : Carlos C. Insaurralde
Publisher : Springer
ISBN 13 : 3319187783
Total Pages : 240 pages
Book Rating : 4.85/5 ( download)

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Download or read book Intelligent Autonomy for Unmanned Marine Vehicles written by Carlos C. Insaurralde and published by Springer. This book was released on 2015-06-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

Author : Sanjay Sharma
Publisher : Institution of Engineering and Technology
ISBN 13 : 1785613383
Total Pages : 348 pages
Book Rating : 4.88/5 ( download)

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Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma and published by Institution of Engineering and Technology. This book was released on 2019-06-26 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.

Author : G.N. Roberts
Publisher : IET
ISBN 13 : 0863414508
Total Pages : 461 pages
Book Rating : 4.03/5 ( download)

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Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Author : Junku Yuh
Publisher : Springer Science & Business Media
ISBN 13 : 1461314194
Total Pages : 251 pages
Book Rating : 4.96/5 ( download)

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Download or read book Underwater Robots written by Junku Yuh and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Author : Fabio Bonsignorio
Publisher : Frontiers Media SA
ISBN 13 : 288966872X
Total Pages : 143 pages
Book Rating : 4.24/5 ( download)

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Download or read book Advanced Control Methods in Marine Robotics Applications written by Fabio Bonsignorio and published by Frontiers Media SA. This book was released on 2021-06-09 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Author : Yang Shi
Publisher : Springer Nature
ISBN 13 : 3031193547
Total Pages : 210 pages
Book Rating : 4.45/5 ( download)

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Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Author : National Academy of Engineering
Publisher : National Academies Press
ISBN 13 : 0309478529
Total Pages : 47 pages
Book Rating : 4.26/5 ( download)

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Download or read book Autonomy on Land and Sea and in the Air and Space written by National Academy of Engineering and published by National Academies Press. This book was released on 2018-07-31 with total page 47 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomy is multidisciplinary, multicultural, and global in its development and applications. Autonomous vehicles rely on communications, artificial intelligence, sensors, virtual and enhanced reality, big data, security, and many other technologies. Each year the annual meeting of the National Academy of Engineering highlights an engineering theme that is quickly developing in the world. The theme of the 2017 meeting was autonomy on land and sea and in the air and space. This publication summarizes the presentations and discussions from the meeting.