Research on biomimetic underwater vehicles for underwater ISR

Gąsiorowski

2020

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Recently, the growing number of Autonomous Underwater Vehicles (AUVs) can be seen. These vehicles are power supplied and controlled from the sources located on their boards. To operate autonomously underwater robots have to be equipped with the diff erent sensors and software for making decision based on the signals from these sensors. The goal of the paper is to show initial research carried out for underwater objects recognition based on video images. Based on several examples included in the literature, the object recognition algorithm proposed in the paper is based on the deep neural network. In the research, the network and training algorithms accessible in the Matlab have been used. The fi nal software will be implemented on board of the Biomimetic Autonomous Underwater Vehicle (BAUV), driven by undulating propulsion imitating oscillating motion of fi ns, e.g. of a fi sh. Sažetak U posljednje vrijeme može se uočiti sve veći broj autonomnih podvodnih plovila (AUV). Ova plovila imaju pogon i kontroliraju ih izvori koji se nalaze na njima. Da bi radili, autonomno podvodni roboti moraju biti opremljeni raznim senzorima i softverom kako bi se donosile odluke na temelju signala primljenih s pomoću senzora. Cilj je ovoga rada prikazati početno istraživanje provedeno na prepoznavanju podvodnih objekata putem videa. Na temelju nekoliko primjera koji se mogu naći u literaturi, algoritam za prepoznavanje objekata koji se predlaže u ovome radu temelji se na dubokim neuronskim mrežama. U istraživanju koristili su se dostupna mreža i algoritmi za obuku u Matlabu. Konačno dobiveni softver primijenit će se na biomimetrijskom autonomnom podvodnom plovilu (BAUV), pogonjenom valovitim pogonom koji imitira oscilirajuće gibanje peraja, npr. ribljih peraja.

“…BAUVs are driven by undulating propulsion imitating real fi ns, e.g. of a fi sh - Figure 1 [7] or of a seal - Figure 2 [15].…”

Section: Introduction / Uvodmentioning

confidence: 99%

“…Primjeri slika s ribama (zahvaljujući ljubaznosti Gdynia centra za ronjenje DTS Piotr Niewinski) Examples of the images with ROVs/AUVs [15] Slika 5. Primjeri slika s ROV/AUV[15]…”

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Using Pretrained AlexNet Deep Learning Neural Network for Recognition of Underwater Objects

Gąsiorowski

2020

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“…1). All the effort necessary to build the AUV, which due to a modern undulating propulsion was called biomimetic AUV, or in short BAUV [1,7,8], was divided into many stages. First, conceptual works were done focused on both the hardware and the software [2,4].…”

Section: Introductionmentioning

confidence: 99%

Report on Research with Biomimetic Autonomous Underwater Vehicle — Navigation and Autonomous Operation

Praczyk

Zeszyty Naukowe Akademii Marynarki Wojennej

Naus

et al. 2018

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The paper presents the second part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled 'Autonomous underwater vehicles with silent undulating propulsion for underwater ISR', financed by Polish National Center of Research and Development. The report includes experiments on the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on navigation and autonomous operation.

“…DOBR-BIO4/033/13015/2013, entitled 'Autonomous underwater vehicles with silent undulating propulsion for underwater reconnaissance' financed by National Center of Research and Development. All the effort necessary to build the AUV, which due to a modern undulating propulsion was called biomimetic AUV, or in short BAUV [1,7,8], was divided into many stages. First, conceptual works were done focused on both the hardware and the software.…”

Section: Introductionmentioning

confidence: 99%

Report on Research with Biomimetic Autonomous Underwater Vehicle — Low Level Control

Praczyk

Zeszyty Naukowe Akademii Marynarki Wojennej

Naus

et al. 2018

Self Cite

The paper presents the first part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled 'Autonomous underwater vehicles with silent undulating propulsion for underwater ISR', financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.