Experiencing Belugas: Action selection for an interactive aquarium exhibit

This paper presents a case study of an action selection system designed with adaptive techniques to create a virtual beluga aquarium exhibit. The beluga interactive exhibit uses a realistic 3D simulation system that allows the virtual belugas, in a natural pod context, to learn and alter their behavior based on contextual visitor interaction. Ethogram information on beluga behavior was incorporated into the simulation, which uses physically based systems for natural whale locomotion and water, artificial intelligence systems including modified neural networks and a reactive hierarchical action selection mechanism to simulate real-time natural individual beluga and group behavior. The beluga’s behavioral system consists of two layers: a low-level navigation system and a high-level reaction hierarchical action selection system. The system is designed to be run on consumer level hardware while maintaining real-time speeds

Comparison of experimental and numerical sloshing loads in partially filled tanks

Sloshing phenomenon consists in the movement of liquids inside partially filled tanks, whichgenerates dynamic loads on the tank structure. Resulting impact pressures are of great importance in assessingstructural strength, and their correct evaluation still represents a challenge for the designer due to the highnonlinearities involved, with complex free surface deformations, violent impact phenomena and influence of airtrapping. In the present paper a set of two-dimensional cases for which experimental results are available areconsidered to assess merits and shortcomings of different numerical methods for sloshing evaluation, namely twocommercial RANS solvers (FLOW-3D and LS-DYNA), and two own developed methods (Smoothed ParticleHydrodynamics and RANS). Impact pressures at different critical locations and global moment induced by watermotion for a partially filled tank with rectangular section having a rolling motion have been evaluated and resultsare compared with experiments

3D locomotion biomimetic robot fish with haptic feedback

This thesis developed a biomimetic robot fish and built a novel haptic robot fish system based on the kinematic modelling and three-dimentional computational fluid dynamic (CFD) hydrodynamic analysis. The most important contribution is the successful CFD simulation of the robot fish, supporting users in understanding the hydrodynamic properties around it

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Virtual Population Units: A New Institutional Approach to Fisheries Management

This paper describes an alternative, rights-based approach to the economic problems of fisheries management and governance. The approach is based on the concept of a Virtual Population (VP), which provides an alternative way to define use rights in a fishery management system. Included is a comparison of harvest rates under the VP regime, “sole-owner,†and open-access regimes. In comparison, a VP solution is more efficient than open access and can approach that of a sole owner. More importantly, in our opinion, the approach contains a higher degree of local control over issues such as concentration of ownership and, unlike some community-based systems, provides an explicit, decentralized incentive for conservation. It also contains a built-in incentive mechanism for end-of-year conservation that is absent from individual transferable quotas (ITQs).Virtual populations, virtual population units, ITQs, marginal valuation, Resource /Energy Economics and Policy, Q220, Q590, C720, D830,

Maritime Computing Transportation, Environment, and Development: Trends of Data Visualization and Computational Methodologies

This research aims to characterize the field of maritime computing (MC) transportation, environment, and development. It is the first report to discover how MC domain configurations support management technologies. An aspect of this research is the creation of drivers of ocean-based businesses. Systematic search and meta-analysis are employed to classify and define the MC domain. MC developments were first identified in the 1990s, representing maritime development for designing sailboats, submarines, and ship hydrodynamics. The maritime environment is simulated to predict emission reductions, coastal waste particles, renewable energy, and engineer robots to observe the ocean ecosystem. Maritime transportation focuses on optimizing ship speed, maneuvering ships, and using liquefied natural gas and submarine pipelines. Data trends with machine learning can be obtained by collecting a big data of similar computational results for implementing artificial intelligence strategies. Research findings show that modeling is an essential skill set in the 21st century

Synthesis of formation control for an aquatic swarm robotics system

Formations are the spatial organization of objects or entities according to some predefined pattern. They can be found in nature, in social animals such as fish schools, and insect colonies, where the spontaneous organization into emergent structures takes place. Formations have a multitude of applications such as in military and law enforcement scenarios, where they are used to increase operational performance. The concept is even present in collective sports modalities such as football, which use formations as a strategy to increase teams efficiency. Swarm robotics is an approach for the study of multi-robot systems composed of a large number of simple units, inspired in self-organization in animal societies. These have the potential to conduct tasks too demanding for a single robot operating alone. When applied to the coordination of such type of systems, formations allow for a coordinated motion and enable SRS to increase their sensing efficiency as a whole. In this dissertation, we present a virtual structure formation control synthesis for a multi-robot system. Control is synthesized through the use of evolutionary robotics, from where the desired collective behavior emerges, while displaying key-features such as fault tolerance and robustness. Initial experiments on formation control synthesis were conducted in simulation environment. We later developed an inexpensive aquatic robotic platform in order to conduct experiments in real world conditions. Our results demonstrated that it is possible to synthesize formation control for a multi-robot system making use of evolutionary robotics. The developed robotic platform was used in several scientific studies.As formações consistem na organização de objetos ou entidades de acordo com um padrão pré-definido. Elas podem ser encontradas na natureza, em animais sociais tais como peixes ou colónias de insetos, onde a organização espontânea em estruturas se verifica. As formações aplicam-se em diversos contextos, tais como cenários militares ou de aplicação da lei, onde são utilizadas para aumentar a performance operacional. O conceito está também presente em desportos coletivos tais como o futebol, onde as formações são utilizadas como estratégia para aumentar a eficiência das equipas. Os enxames de robots são uma abordagem para o estudo de sistemas multi-robô compostos de um grande número de unidades simples, inspirado na organização de sociedades animais. Estes têm um elevado potencial na resolução de tarefas demasiado complexas para um único robot. Quando aplicadas na coordenação deste tipo de sistemas, as formações permitem o movimento coordenado e o aumento da sensibilidade do enxame como um todo. Nesta dissertação apresentamos a síntese de controlo de formação para um sistema multi-robô. O controlo é sintetizado através do uso de robótica evolucionária, de onde o comportamento coletivo emerge, demonstrando ainda funcionalidadeschave tais como tolerância a falhas e robustez. As experiências iniciais na síntese de controlo foram realizadas em simulação. Mais tarde foi desenvolvida uma plataforma robótica para a condução de experiências no mundo real. Os nossos resultados demonstram que é possível sintetizar controlo de formação para um sistema multi-robô, utilizando técnicas de robótica evolucionária. A plataforma desenvolvida foi ainda utilizada em diversos estudos científicos