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Design And Implementation Of A Localization System For Underwater Drones Incorporating Machine Learning
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Book Synopsis Design and Implementation of a Localization System for Underwater Drones Incorporating Machine Learning by :
Download or read book Design and Implementation of a Localization System for Underwater Drones Incorporating Machine Learning written by and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Autonomous Underwater Vehicle (AUV) is a class of robot, designed to explore and navigate underwater environments. AUVs are used in underwater surveying and inspection as they are capable of operating at extreme depths without risk to human life. Long-duration missions require accurate localization to facilitate underwater navigation, in the deep ocean environment (> 200 meter depth) localization is a significant challenge. This thesis proposes a machine learning model to provide velocity pseudo measurements to an EKF to improve position estimates without relying on external references. The proposed system is built on the Robot Operating System (ROS) and was validated in simulation and on a real-world AUV created for this research. The results showed that in simulation the AUV was capable of localizing itself to an error of 0.477% of distance traveled for the simulation and 9.13% for the real-world AUV.
Book Synopsis AI Technology for Underwater Robots by : Frank Kirchner
Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by Springer Nature. This book was released on 2019-10-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in the field of underwater technologies, industrial maritime applications, and maritime science.
Book Synopsis Autonomous Underwater Vehicles by : Jing Yan
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Book Synopsis Machine Learning Modeling for IoUT Networks by : Ahmad A. Aziz El-Banna
Download or read book Machine Learning Modeling for IoUT Networks written by Ahmad A. Aziz El-Banna and published by Springer Nature. This book was released on 2021-05-29 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses how machine learning and the Internet of Things (IoT) are playing a part in smart control of underwater environments, known as Internet of Underwater Things (IoUT). The authors first present seawater’s key physical variables and go on to discuss opportunistic transmission, localization and positioning, machine learning modeling for underwater communication, and ongoing challenges in the field. In addition, the authors present applications of machine learning techniques for opportunistic communication and underwater localization. They also discuss the current challenges of machine learning modeling of underwater communication from two communication engineering and data science perspectives.
Book Synopsis A Novel Localization System for Experimental Autonomous Underwater Vehicles by : Russell Walter Morin
Download or read book A Novel Localization System for Experimental Autonomous Underwater Vehicles written by Russell Walter Morin and published by . This book was released on 2010 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Localization is a classic and complex problem in the field of mobile robotics. It becomes particularly challenging in an aqueous environment because currents within the water can move the robot. A novel localization module and corresponding localization algorithm for experimental autonomous underwater vehicles is presented. Unlike other available positioning systems which require fixed hardware beacons, this custom built module relies only on information available from sensors on-board the vehicle and knowledge of its bounded domain. This allows the user to save valuable time which would otherwise be devoted to the setup and calibration of a beacon or sensor network. The module uses three orthogonal ultrasonic transducers to measure distances to the tank boundaries. Using the measured tri-axial orientation of the vehicle, the algorithm analytically determines the robot's position within the domain in absolute coordinates. Certain vehicle states do not allow the position to be completely resolved by the algorithm alone. In this case, state estimation is used to estimate the robot position until its state is no longer indeterminate. The modular design of this system makes it ideal for application on underwater vehicles which operate in a bounded environment for research purposes. An experimental version of the module was constructed and tested in the WPI swimming pool and showed successful localization under normal conditions.
Book Synopsis Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques by : Tien Anh Tran
Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "The development of intelligent transportation systems has become significant in marine engineering especially Autonomous Underwater Vehicles with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including study of experimental investigation combined with hydrodynamic characteristics backed my MATLAB codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligent based optimization techniques. Reviews propulsion performance of the remoted control vehicles based on machine learning techniques. Includes MATLAB examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering"--
Book Synopsis AI Technology for Underwater Robots by : Frank Kirchner
Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in the field of underwater technologies, industrial maritime applications, and maritime science.
Book Synopsis Mobile Node-aided Localization and Tracking in Terrestrial and Underwater Networks by : Zijun Gong
Download or read book Mobile Node-aided Localization and Tracking in Terrestrial and Underwater Networks written by Zijun Gong and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In large-scale wireless sensor networks (WSNs), the position information of individual sensors is very important for many applications. Generally, there are a small number of position-aware nodes, referred to as the anchors. Every other node can estimate its distances to the surrounding anchors, and then employ trilateration or triangulation for self-localization. Such a system is easy to implement, and thus popular for both terrestrial and underwater applications, but it suffers from some major drawbacks. First, the density of the anchors is generally very low due to economical considerations, leading to poor localization accuracy. Secondly, the energy and bandwidth consumptions of such systems are quite significant. Last but not the least, the scalability of a network based on fixed anchors is not good. Therefore, whenever the network expands, more anchors should be deployed to guarantee the required performance. Apart from these general challenges, both terrestrial and underwater networks have their own specific ones. For example, realtime channel parameters are generally required for localization in terrestrial WSNs. For underwater networks, the clock skew between the target sensor and the anchors must be considered. That is to say, time synchronization should be performed together with localization, which makes the problem complicated. An alternative approach is to employ mobile anchors to replace the fixed ones. For terrestrial networks, commercial drones and unmanned aerial vehicles (UAVs) are very good choices, while autonomous underwater vehicles (AUVs) can be used for underwater applications. Mobile anchors can move along a predefined trajectory and broadcast beacon signals. By listening to the messages, the other nodes in the network can localize themselves passively. This architecture has three major advantages: first, energy and bandwidth consumptions can be significantly reduced; secondly, the localization accuracy can be much improved with the increased number of virtual anchors, which can be boosted at negligible cost; thirdly, the coverage can be easily extended, which makes the solution and the network highly scalable. Motivated by this idea, this thesis investigates the mobile node-aided localization and tracking in large-scale WSNs. For both terrestrial and underwater WSNs, the system design, modeling, and performance analyses will be presented for various applications, including: (1) the drone-assisted localization in terrestrial networks; (2) the ToA-based underwater localization and time synchronization; (3) the Doppler-based underwater localization; (4) the underwater target detection and tracking based on the convolutional neural network and the fractional Fourier transform. In these applications, different challenges will present, and we will see how these challenges can be addressed by replacing the fixed anchors with mobile ones. Detailed mathematical models will be presented, and extensive simulation and experimental results will be provided to verify the theoretical results. Also, we will investigate the channel estimation for the fifth generation (5G) wireless communications. A pilot decontamination method will be presented for the massive multiple-input-multiple-output communications, and the data-aided channel tracking will be discussed for millimeter wave communications. We will see that the localization problem is highly coupled with the channel estimation in wireless communications.
Book Synopsis Underwater SLAM for Structured Environments Using an Imaging Sonar by : David Ribas
Download or read book Underwater SLAM for Structured Environments Using an Imaging Sonar written by David Ribas and published by Springer. This book was released on 2016-05-01 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes a number of techniques developed to solve a central problem in the navigation of autonomous underwater vehicles (AUVs). It focuses in particular on localization methods and especially on simultaneous localization and mapping (SLAM).
Book Synopsis Design and Implementation of an Energy Aware Programming Framework for Autonomous Underwater Vehicles by : Hans Christian Woithe
Download or read book Design and Implementation of an Energy Aware Programming Framework for Autonomous Underwater Vehicles written by Hans Christian Woithe and published by . This book was released on 2014 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) have become an indispensable tool for studying the oceans. They allow for the prolonged presence of scientific instruments in the ocean, enabling the collection of samples for several weeks or months at a time for a fraction of the cost of research vessels. These vehicles share common characteristics and constraints with other cyber-physical systems that include concerns for vehicle safety, a limited energy supply, the optimization and trade-off of resources, sporadic communication, and operation in extremely constrained environments. One such AUV is the Slocum Electric Glider. Although AUVs like the Slocum Glider have revolutionized the field of oceanography, many are difficult to program and thus limit their overall utility. A new energy aware, domain specific programming framework for AUVs, called ALGAE (AUV Language for Greater Adaptability and Energy optimization), has been developed on the Slocum Glider. This framework enables scientists to easily create missions that use domain specific features to make trade-offs, such as sacrificing the quality at which the environment is sampled for a gain in vehicle endurance. Novel methods used in the framework make the vehicle a more effective scientific instrument. The system was specifically designed to support a mission critical platform that operates in an extremely constrained environment. In the new infrastructure, missions can be tested in simulation, but more importantly, can be compiled directly for use on the target platform. To evaluate the framework, simulations and field trials off the coast of New Jersey were performed to showcase the practicality of the system. Furthermore, because the framework was designed around a common set of constraints and characteristics, the mechanisms and approaches developed are widely applicable to many autonomous systems.
Book Synopsis Drones in Smart-Cities by : Fadi Al-Turjman
Download or read book Drones in Smart-Cities written by Fadi Al-Turjman and published by Elsevier. This book was released on 2020-06-04 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drones in Smart-Cities: Security and Performance is the first book dedicated to drones in smart cities, helping address the many research challenges in bringing UAVs into practice. The book incorporates insights from the latest research in Internet of Things, big data, and cloud computing, 5G, and other communication technologies. It examines the design and implementation of UAV, focusing on data delivery, performability, and security. Intended for researchers, engineers, and practitioners, Drones in Smart-Cities: Security and Performance combines the technical aspects with academic theory to help implement the smart city vision around the globe. Addresses UAV and IoT for smart cities applications Examines topics as UAV safety, challenges, localization methods. QoS, simulation tools, and more Collect the relevant knowledge in one resource, saving research time and effort
Book Synopsis Underwater Robots by : Gianluca Antonelli
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
Book Synopsis Handbook of Research on Design, Deployment, Automation, and Testing Strategies for 6G Mobile Core Network by : Kumar, D. Satish
Download or read book Handbook of Research on Design, Deployment, Automation, and Testing Strategies for 6G Mobile Core Network written by Kumar, D. Satish and published by IGI Global. This book was released on 2022-03-04 with total page 490 pages. Available in PDF, EPUB and Kindle. Book excerpt: To overcome the constraints of 5G for supporting new challenges, 6G wireless systems must be developed with new and attractive features. These systems are expected to increase performance and maximize quality of service several folds more than 5G along with other exciting features. However, 6G is still in its infancy and must be explored. The Handbook of Research on Design, Deployment, Automation, and Testing Strategies for 6G Mobile Core Network discusses the technological feats used in the new 6G wireless systems. It discusses the design, automation, and uses for industry as well as testing strategies. Covering topics such as 6G architecture, smart healthcare, and wireless communication, this major reference work is an excellent resource for computer scientists, engineers, students and professors in higher education, researchers, and academicians.
Book Synopsis Autonomous Underwater Vehicles by : Frank Ehlers
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Book Synopsis Autonomous Vehicles in Support of Naval Operations by : National Research Council
Download or read book Autonomous Vehicles in Support of Naval Operations written by National Research Council and published by National Academies Press. This book was released on 2005-08-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.
Book Synopsis Advancing Autonomous Systems by : Bradley Martin
Download or read book Advancing Autonomous Systems written by Bradley Martin and published by . This book was released on 2018-12 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Department of Defense Authorization for Appropriations for Fiscal Year 1997 and the Future Years Defense Program by : United States. Congress. Senate. Committee on Armed Services
Download or read book Department of Defense Authorization for Appropriations for Fiscal Year 1997 and the Future Years Defense Program written by United States. Congress. Senate. Committee on Armed Services and published by . This book was released on 1997 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt:
