A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES

The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.J&S MARINE LT

Recent Advances in Machine Learning Applied to Ultrasound Imaging

Machine learning (ML) methods are pervading an increasing number of fields of application because of their capacity to effectively solve a wide variety of challenging problems. The employment of ML techniques in ultrasound imaging applications started several years ago but the scientific interest in this issue has increased exponentially in the last few years. The present work reviews the most recent (2019 onwards) implementations of machine learning techniques for two of the most popular ultrasound imaging fields, medical diagnostics and non-destructive evaluation. The former, which covers the major part of the review, was analyzed by classifying studies according to the human organ investigated and the methodology (e.g., detection, segmentation, and/or classification) adopted, while for the latter, some solutions to the detection/classification of material defects or particular patterns are reported. Finally, the main merits of machine learning that emerged from the study analysis are summarized and discussed. © 2022 by the authors. Licensee MDPI, Basel, Switzerland

TEXTURAL ANALYSIS AND STATISTICAL INVESTIGATION OF PATTERNS IN SYNTHETIC APERTURE SONAR IMAGES

Textural analysis and statistical investigation of patterns in synthetic aperture sonar (SAS) images is useful for oceanographic purposes such as biological habitat mapping or bottom type identification for offshore construction. Seafloor classification also has many tactical benefits for the U.S. Navy in terms of mine identification and undersea warfare. Common methods of texture analysis rely on statistical moments of image intensity, or more generally, the probability density function of the scene. One of the most common techniques uses Haralick’s Grey Level Co-occurrence Matrix (GLCM) to calculate image features used in the applications listed above. Although widely used, seafloor classification and segmentation are difficult using Haralick features. Typically, these features are calculated at a single scale. Improvements based on the understanding that patterns are multiscale was compared with this baseline, with a goal of improving seafloor classification. Synthetic aperture sonar (SAS) data was provided by the Norwegian Research Defense Establishment for this work, and was labeled into six distinct seafloor classes, with 757 total examples. We analyze the feature importance determined by neighborhood component analysis as a function of scale and direction to determine which spatial scale and azimuthal direction is most informative for good classification performance.Office of Naval Research, Arlington, VA , 22217Lieutenant, United States NavyApproved for public release. Distribution is unlimited

Improving K-means clustering with enhanced Firefly Algorithms

In this research, we propose two variants of the Firefly Algorithm (FA), namely inward intensified exploration FA (IIEFA) and compound intensified exploration FA (CIEFA), for undertaking the obstinate problems of initialization sensitivity and local optima traps of the K-means clustering model. To enhance the capability of both exploitation and exploration, matrix-based search parameters and dispersing mechanisms are incorporated into the two proposed FA models. We first replace the attractiveness coefficient with a randomized control matrix in the IIEFA model to release the FA from the constraints of biological law, as the exploitation capability in the neighbourhood is elevated from a one-dimensional to multi-dimensional search mechanism with enhanced diversity in search scopes, scales, and directions. Besides that, we employ a dispersing mechanism in the second CIEFA model to dispatch fireflies with high similarities to new positions out of the close neighbourhood to perform global exploration. This dispersing mechanism ensures sufficient variance between fireflies in comparison to increase search efficiency. The ALL-IDB2 database, a skin lesion data set, and a total of 15 UCI data sets are employed to evaluate efficiency of the proposed FA models on clustering tasks. The minimum Redundancy Maximum Relevance (mRMR)-based feature selection method is also adopted to reduce feature dimensionality. The empirical results indicate that the proposed FA models demonstrate statistically significant superiority in both distance and performance measures for clustering tasks in comparison with conventional K-means clustering, five classical search methods, and five advanced FA variants

Change detection in combination with spatial models and its effectiveness on underwater scenarios

This thesis proposes a novel change detection approach for underwater scenarios and combines it with different especially developed spatial models, this allows accurate and spatially coherent detection of any moving objects with a static camera in arbitrary environments. To deal with the special problems of underwater imaging pre-segmentations based on the optical flow and other special adaptions were added to the change detection algorithm so that it can better handle typical underwater scenarios like a scene crowded by a whole fish swarm

Quality Enhancement for Underwater Images using Various Image Processing Techniques: A Survey

Underwater images are essential to identify the activity of underwater objects. It played a vital role to explore and utilizing aquatic resources. The underwater images have features such as low contrast, different noises, and object imbalance due to lack of light intensity. CNN-based in-deep learning approaches have improved underwater low-resolution photos during the last decade. Nevertheless, still, those techniques have some problems, such as high MSE, PSNT and high SSIM error rate. They solve the problem using different experimental analyses; various methods are studied that effectively treat different underwater image distorted scenes and improve contrast and color deviation compared to other algorithms. In terms of the color richness of the resulting images and the execution time, there are still deficiencies with the latest algorithm. In future work, the structure of our algorithm will be further adjusted to shorten the execution time, and optimization of the color compensation method under different color deviations will also be the focus of future research. With the wide application of underwater vision in different scientific research fields, underwater image enhancement can play an increasingly significant role in the process of image processing in underwater research and underwater archaeology. Most of the target images of the current algorithms are shallow water images. When the artificial light source is added to deep water images, the raw images will face more diverse noises, and image enhancement will face more challenges. As a result, this study investigates the numerous existing systems used for quality enhancement of underwater mages using various image processing techniques. We find various gaps and challenges of current systems and build the enhancement of this research for future improvement. Aa a result of this overview is to define the future problem statement to enhance this research and overcome the challenges faced by previous researchers. On other hand also improve the accuracy in terms of reducing MSE and enhancing PSNR etc

Intelligent Leukaemia Diagnosis with Bare-Bones PSO based Feature Optimization

In this research, we propose an intelligent decision support system for acute lymphoblastic leukaemia (ALL) diagnosis using microscopic images. Two Bare-bones Particle Swarm Optimization (BBPSO) algorithms are proposed to identify the most significant discriminative characteristics of healthy and blast cells to enable efficient ALL classification. The first BBPSO variant incorporates accelerated chaotic search mechanisms of food chasing and enemy avoidance to diversify the search and mitigate the premature convergence of the original BBPSO algorithm. The second BBPSO variant exhibits both of the abovementioned new search mechanisms in a subswarm-based search. Evaluated with the ALL-IDB2 database, both proposed algorithms achieve superior geometric mean performances of 94.94% and 96.25%, respectively, and outperform other metaheuristic search and related methods significantly for ALL classification