Design and development of SHAD - a Small Hovering AUV with Differential actuation

Goncalves, Carlos; Ferreira, Bruno M.; Matos, Aníbal

doi:10.1109/oceans.2016.7761457

Cited by 7 publications

(3 citation statements)

References 2 publications

(3 reference statements)

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“…For the preparation of the datasets used, the SHAD AUV [19] was deployed, equipped with a Tritech Micron Sonar [20]. The sonar was mounted in the forward hull of the vehicle, oriented according to its longitudinal axis.…”

Section: Comparison Methodologymentioning

confidence: 99%

A Performance Analysis of Feature Extraction Algorithms for Acoustic Image-Based Underwater Navigation

Oliveira

Ferreira

Cruz

2021

JMSE

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In underwater navigation, sonars are useful sensing devices for operation in confined or structured environments, enabling the detection and identification of underwater environmental features through the acquisition of acoustic images. Nonetheless, in these environments, several problems affect their performance, such as background noise and multiple secondary echoes. In recent years, research has been conducted regarding the application of feature extraction algorithms to underwater acoustic images, with the purpose of achieving a robust solution for the detection and matching of environmental features. However, since these algorithms were originally developed for optical image analysis, conclusions in the literature diverge regarding their suitability to acoustic imaging. This article presents a detailed comparison between the SURF (Speeded-Up Robust Features), ORB (Oriented FAST and Rotated BRIEF), BRISK (Binary Robust Invariant Scalable Keypoints), and SURF-Harris algorithms, based on the performance of their feature detection and description procedures, when applied to acoustic data collected by an autonomous underwater vehicle. Several characteristics of the studied algorithms were taken into account, such as feature point distribution, feature detection accuracy, and feature description robustness. A possible adaptation of feature extraction procedures to acoustic imaging is further explored through the implementation of a feature selection module. The performed comparison has also provided evidence that further development of the current feature description methodologies might be required for underwater acoustic image analysis.

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Section: Comparison Methodologymentioning

confidence: 99%

A Performance Analysis of Feature Extraction Algorithms for Acoustic Image-Based Underwater Navigation

Oliveira

Ferreira

Cruz

2021

JMSE

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“…Assigning reconfigurable abilities to small and medium-sized single-body AUVs will be a potential solution to the current situation. According to the statistical data of 42 multibody AUVs introduced in this paper, the typical platforms (the reconfigurable underwater robot [19], TriMARES [20], [21], Girona [33], [34], ROBUST [35], [36], Angel [95], USS-G2 [92], [93], and the serial-structured underwater vehicle [96]) with reconfigurable ability account for approximately 16.7%. Due to the limitation of maneuverability, a single-body AUV capable of performing general ocean observation tasks has difficulty meeting the mapping requirements of complex seabed terrain.…”

Section: B the Structure Of Each Unit Is Developing Towards Reconfigmentioning

confidence: 99%

Development of Multibody Marine Robots: A Review

Kang

Zhang

et al. 2020

IEEE Access

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Multibody marine robots, representing a promising research and development area, have gained acute attention and response from civil and military fields. A multibody marine robot is a multibody system composed of multiple single-body marine robots (defined as a unit) in a certain topology. Such a system is generally characterized by underactuation, hyperredundancy, power distribution, modularization and so on. Compared with traditional single-body marine robots, multibody marine robots can carry greater loads and have more forms of motion, so they can meet more specialized functional requirements. At the same time, they also have more complex hydrodynamic characteristics due to their unique structures and motion forms. In this paper, the types, features, and hydrodynamic characteristics of typical multibody marine robots are reviewed and summarized based on the connection structures between units. In addition, the development trends of multibody marine robots are analyzed and discussed. This review work anticipates positive attention from future readers regarding multibody marine robots, which represent an important subarea of marine robots.

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“…In the last five years, development in the field of micro-AUVs has been particularly interesting, with the development of HippoCampus [14] and SEMBIO [5], micro-AUVs for swarm applications, as well as AUVs with less typical drive designs, such as a momentum-drive single actuated robot, which rotates its inner body to move the exterior passive flaps and produce swimming motion [13]. Other AUVs such as SHAD [13], HOBALIN [21], and Sparus II [6] focused on hovering motion for seabed inspection and observation tasks. Lastly, the development of general-purpose micro-AUVs is still going strong, with Bluefin Sandshark [27], a docking AUV [31], and other similar AUVs appearing in the last few years.…”

Section: Related Workmentioning

confidence: 99%

Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle

Edge¹,

Enan²,

Fulton³

et al. 2020

Preprint

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In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction capabilities on LoCO, including gestural control, diver following, and robot communication via motion. Finally, we discuss the practical concerns of deployment and our experiences in using this robot in pools, lakes, and the ocean. All design details, instructions on assembly, and code will be released under a permissive, open-source license.

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Design and development of SHAD - a Small Hovering AUV with Differential actuation

Cited by 7 publications

References 2 publications

A Performance Analysis of Feature Extraction Algorithms for Acoustic Image-Based Underwater Navigation

A Performance Analysis of Feature Extraction Algorithms for Acoustic Image-Based Underwater Navigation

Development of Multibody Marine Robots: A Review

Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle

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