Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline) in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams

Review of Intelligent Control Systems with Robotics

Interactive between human and robot assumes a significant job in improving the productivity of the instrument in mechanical technology. Numerous intricate undertakings are cultivated continuously via self-sufficient versatile robots. Current automated control frameworks have upset the creation business, making them very adaptable and simple to utilize. This paper examines current and up and coming sorts of control frameworks and their execution in mechanical technology, and the job of AI in apply autonomy. It additionally expects to reveal insight into the different issues around the control frameworks and the various approaches to fix them. It additionally proposes the basics of apply autonomy control frameworks and various kinds of mechanical technology control frameworks. Each kind of control framework has its upsides and downsides which are talked about in this paper. Another kind of robot control framework that upgrades and difficulties the pursuit stage is man-made brainpower. A portion of the speculations utilized in man-made reasoning, for example, Artificial Intelligence (AI) such as fuzzy logic, neural network and genetic algorithm, are itemized in this paper. At long last, a portion of the joint efforts between mechanical autonomy, people, and innovation were referenced. Human coordinated effort, for example, Kinect signal acknowledgment utilized in games and versatile upper-arm-based robots utilized in the clinical field for individuals with inabilities. Later on, it is normal that the significance of different sensors will build, accordingly expanding the knowledge and activity of the robot in a modern domai

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

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