A Concept for Docking a UUV With a Slowly Moving Submarine Under Waves

Watt, George D.; Roy, André; Currie, Jason; Gillis, Colin B.; Giesbrecht, J.; Heard, Garry J.; Birsan, Marius; Seto, Mae; Carretero, Juan A.; Dubay, Rickey; Jeans, Tiger L.

doi:10.1109/joe.2015.2424731

Cited by 31 publications

(5 citation statements)

References 35 publications

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“…A streamlined unmanned underwater vehicle (UUV) based deck with a submerged submarine in high sea littoral water was proposed in Watt et al (2015). The solution used an automated active dock to correct for transverse relative motion between the vehicles.…”

Section: Jdal 72mentioning

confidence: 99%

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A survey of technologies supporting design of a multimodal interactive robot for military communication

Paul

2023

JDAL

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PurposeThis paper presents a survey of research into interactive robotic systems for the purpose of identifying the state of the art capabilities as well as the extant gaps in this emerging field. Communication is multimodal. Multimodality is a representation of many modes chosen from rhetorical aspects for its communication potentials. The author seeks to define the available automation capabilities in communication using multimodalities that will support a proposed Interactive Robot System (IRS) as an AI mounted robotic platform to advance the speed and quality of military operational and tactical decision making.Design/methodology/approachThis review will begin by presenting key developments in the robotic interaction field with the objective of identifying essential technological developments that set conditions for robotic platforms to function autonomously. After surveying the key aspects in Human Robot Interaction (HRI), Unmanned Autonomous System (UAS), visualization, Virtual Environment (VE) and prediction, the paper then proceeds to describe the gaps in the application areas that will require extension and integration to enable the prototyping of the IRS. A brief examination of other work in HRI-related fields concludes with a recapitulation of the IRS challenge that will set conditions for future success.FindingsUsing insights from a balanced cross section of sources from the government, academic, and commercial entities that contribute to HRI a multimodal IRS in military communication is introduced. Multimodal IRS (MIRS) in military communication has yet to be deployed.Research limitations/implicationsMultimodal robotic interface for the MIRS is an interdisciplinary endeavour. This is not realistic that one can comprehend all expert and related knowledge and skills to design and develop such multimodal interactive robotic interface. In this brief preliminary survey, the author has discussed extant AI, robotics, NLP, CV, VDM, and VE applications that is directly related to multimodal interaction. Each mode of this multimodal communication is an active research area. Multimodal human/military robot communication is the ultimate goal of this research.Practical implicationsA multimodal autonomous robot in military communication using speech, images, gestures, VST and VE has yet to be deployed. Autonomous multimodal communication is expected to open wider possibilities for all armed forces. Given the density of the land domain, the army is in a position to exploit the opportunities for human–machine teaming (HMT) exposure. Naval and air forces will adopt platform specific suites for specially selected operators to integrate with and leverage this emerging technology. The possession of a flexible communications means that readily adapts to virtual training will enhance planning and mission rehearsals tremendously.Social implicationsInteraction, perception, cognition and visualization based multimodal communication system is yet missing. Options to communicate, express and convey information in HMT setting with multiple options, suggestions and recommendations will certainly enhance military communication, strength, engagement, security, cognition, perception as well as the ability to act confidently for a successful mission.Originality/valueThe objective is to develop a multimodal autonomous interactive robot for military communications. This survey reports the state of the art, what exists and what is missing, what can be done and possibilities of extension that support the military in maintaining effective communication using multimodalities. There are some separate ongoing progresses, such as in machine-enabled speech, image recognition, tracking, visualizations for situational awareness, and virtual environments. At this time, there is no integrated approach for multimodal human robot interaction that proposes a flexible and agile communication. The report briefly introduces the research proposal about multimodal interactive robot in military communication.

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Section: Jdal 72mentioning

confidence: 99%

“…A streamlined unmanned underwater vehicle (UUV) based deck with a submerged submarine in high sea littoral water was proposed in Watt et al . (2015).…”

Section: Multimodal Interactions and Communicationsmentioning

confidence: 99%

A survey of technologies supporting design of a multimodal interactive robot for military communication

Paul

2023

JDAL

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“…Secondly, the discrete trajectory control points are fitted segmentally by using a cubic polynomial to obtain the angular displacement, angular velocity and angular acceleration of the trajectory to be optimized. Next, the dynamic equation of the system is calculated through (2) to obtain the vibration mode of the flexible manipulator. Then, the objective function is calculated according to (22) and the speed is updated according to (21) until the maximum iterative steps are reached.…”

Section: Pso Algorithmmentioning

confidence: 99%

“…Nowadays, the extension of the functions of large submersibles using underwater manipulators for the dynamic deployment and recovery of unmanned underwater vehicles (UUV) is a major research direction [1][2][3]. UUVs have the characteristics of strong concealment, high intelligence, lower construction costs and no casualties.…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression Trajectory Planning of Underwater Flexible Manipulators Based on Incremental Kriging-Assisted Optimization Algorithm

Huang

Tang

Chen

et al. 2023

JMSE

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It is of great significance to expand the functions of submarines by carrying underwater manipulators with a large working space. To suppress the flexible vibration of underwater manipulators, an improved sparrow search algorithm (ISSA) combining an elite strategy and a sine algorithm is proposed for the trajectory planning of underwater flexible manipulators. In this method, the vibration evaluation function is established based on the precise dynamic model of the underwater flexible manipulator and considering complex motion and vibration constraints. Simulation results show that the ISSA algorithm requires only 1/3.68 of the time of PSO. Compared to PSO, SSA and the opposition-based learning sparrow search algorithm (OBLSSA), the optimization performance is improved by 17.3%, 13.1% and 9.7%, respectively. However, because the complex dynamics model of the underwater flexible manipulator leads to large computational effort and a long optimization time, ISSA is difficult to apply directly in practice. To obtain a large number of optimization results in a shorter time, an incremental Kriging-assisted ISSA (IKA-ISSA) is proposed in this paper. Simulation results show that IKA-ISSA has good nonlinear approximation ability and the optimization time is only 3% of that of the ISSA.

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“…This process, similar to aerial refueling, allows the AUV to dock with an underwater base station for a brief period to charge and exchange data. There are various underwater docking stations (DS) used for AUV docking and recovery, which can include landing on the seafloor, being carried by a mother ship, unmanned surface vehicle, or submarine, depending on the mission (Irani et al, 2014; Raspante, 2012; Renilson, 2014; Sarda & Dhanak, 2016; Watt et al, 2016). In addition, there are various types of DS that can support AUVs, such as planar, funnel, and box‐shaped types (Li et al, 2015; Trslic et al, 2020; Yang et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

A stereo visual navigation method for docking autonomous underwater vehicles

Xu,

Jiang,

et al. 2023

Journal of Field Robotics

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Recovering and recharging autonomous underwater vehicles (AUVs) on a regular basis allows for long‐term underwater activities. This research provides a vision‐based navigation strategy for AUVs to independently identify and reconstruct the docking station (DS). The proposed framework includes a light beacon detection approach, a filter‐based light beacon matching method, and a fusion pose estimation method for DS positioning. Four green LED light beacons are mounted symmetrically on the docking ring, enabling the stereo camera to observe them from close range. A method for detecting light beacons is proposed that assures detection accuracy by identifying false positives. On a single frame from a stereo camera, filter‐based matching follows the light beacons precisely. In addition, we construct a position estimate method that significantly improves accuracy and efficiency by consisting of analyzation and iteration. A series of virtual and real‐world experiments demonstrate that our methodology can provide AUVs with reliable docking navigation.

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A Concept for Docking a UUV With a Slowly Moving Submarine Under Waves

Cited by 31 publications

References 35 publications

A survey of technologies supporting design of a multimodal interactive robot for military communication

A survey of technologies supporting design of a multimodal interactive robot for military communication

Vibration Suppression Trajectory Planning of Underwater Flexible Manipulators Based on Incremental Kriging-Assisted Optimization Algorithm

A stereo visual navigation method for docking autonomous underwater vehicles

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