20 research outputs found
Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
This paper proposes a pose-based algorithm to solve the full SLAM problem
for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and
possibly unstructured environment. The technique incorporate probabilistic scan
matching with range scans gathered from a Mechanical Scanned Imaging Sonar
(MSIS) and the robot dead-reckoning displacements estimated from a Doppler Velocity
Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors
are processed and fused in-line. No priory structural information or initial pose are
considered. The algorithm has been tested on an AUV guided along a 600m path
within a marina environment, showing the viability of the proposed approach.Peer Reviewe
Toward autonomous exploration in confined underwater environments
Author Posting. © The Author(s), 2015. This is the author's version of the work. It is posted here by permission of John Wiley & Sons for personal use, not for redistribution. The definitive version was published in Journal of Field Robotics 33 (2016): 994-1012, doi:10.1002/rob.21640.In this field note we detail the operations and discuss the results of an experiment conducted
in the unstructured environment of an underwater cave complex, using an autonomous underwater vehicle (AUV). For this experiment the AUV was equipped with two acoustic
sonar to simultaneously map the caves’ horizontal and vertical surfaces. Although the
caves’ spatial complexity required AUV guidance by a diver, this field deployment successfully demonstrates a scan matching algorithm in a simultaneous localization and mapping (SLAM) framework that significantly reduces and bounds the localization error for fully
autonomous navigation. These methods are generalizable for AUV exploration in confined
underwater environments where surfacing or pre-deployment of localization equipment are
not feasible and may provide a useful step toward AUV utilization as a response tool in
confined underwater disaster areas.This research work was partially sponsored by the EU FP7-Projects: Tecniospring-
Marie Curie (TECSPR13-1-0052), MORPH (FP7-ICT-2011-7-288704), Eurofleets2 (FP7-INF-2012-312762),
and the National Science Foundation (OCE-0955674)
Seabed monitoring with Girona 500 AUV working as HROV
This paper presents the use of Girona 500 AUV as a Hybrid ROV (HROV)
to inspect underwater habitats by combining basic teleoperation and automatic
way-point following. This duality allows safe movements, when inspecting visually
the seabed, together with precise way-point movements, when mapping or
reaching the area. Also, the use of a HROV containing its own energy simplifies the
management of the umbilical cable, which can be smaller, and integrates all safety
measures of an AUV. The Girona 500 AUV has been tested acting as HROV during 3
campaigns at 80 metres depth in a project for evaluating the state of transplanted
gorgonians.Peer Reviewe
Industrial dynamics, innovation and the urban system in Spain: trajectories of medium-sized cities
[ES] El artÃculo pretende un primer acercamiento a las dinámicas industriales de las ciudades intermedias españolas. Además de una revisión de las teorÃas económicas convencionales del crecimiento industrial localizado, en la explicación se incide en claves internas y especÃficas
para cada ciudad, como la posible existencia de sistemas productivos capaces de activar cÃrculos virtuosos de innovación. Para ello se analizan la evolución y estructura sectorial dentro
del sistema urbano español, a partir de los datos de empresas y empleo de la Seguridad Social (2000-2006), explorando la asociación espacial de ambos aspectos con diversos indicadores de innovación económico-empresarial.[EN] The article endeavours to provide an approach to the industrial dynamics of mediumsized Spanish cities. In addition to containing a survey of the conventional economic theories on localised industrial growth, the explanation stresses internal keys specific to each city, such as the possible existence of production systems that can activate virtuous circles of
innovation. Evolution and sector structure within the Spanish urban system are therefore analysed, on the basis of business and employment figures from Social Security (2000-2006), exploring the spatial association of both aspects with diverse indicators of economic and business innovation.El artÃculo forma parte del proyecto de investigación sobre Estrategias de innovación industrial y desarrollo
económico en las ciudades intermedias de España, financiado por la Fundación BBVA (2006-2008).Peer reviewe
Testing Sparus II AUV, an open platform for industrial, scientific and academic applications
This paper describes the experience of preparing and testing the SPARUS
II AUV in different applications. The AUV was designed as a lightweight vehicle combining
the classical torpedo-shape features with the hovering capability. The robot
has a payload area to allow the integration of different equipment depending on
the devices and systems. Its flexibility, easy operation and openness makes the SPARUS
II AUV a multipurpose platform that can adapt to industrial, scientific and academic
applications. Five units were developed in 2014, and different teams used and
adapted the platform for different applications. The paper describes some of the
experiences in preparing and testing this open platform to different applications.Peer Reviewe
Sonar scan matching for simultaneous localization and mapping in confined underwater environments
This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping(SLAM) frameworkAquesta tesis presenta el desenvolupament d’un algoritme de localització i mapeig per un vehicle submarà autònom (AUV). L’algoritme es basa en tècniques probabilÃstiques de scan matching utilitzant scans de sonar dins un sistema de localització i construcció simultà nia de mapes (SLAM) basat en posici
Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar
This paper proposes a pose-based algorithm to solve the full SLAM problem
for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and
possibly unstructured environment. The technique incorporate probabilistic scan
matching with range scans gathered from a Mechanical Scanned Imaging Sonar
(MSIS) and the robot dead-reckoning displacements estimated from a Doppler Velocity
Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors
are processed and fused in-line. No priory structural information or initial pose are
considered. The algorithm has been tested on an AUV guided along a 600m path
within a marina environment, showing the viability of the proposed approach.Peer Reviewe
Towards AUV Docking on Sub-sea Structures
Abstract¿Conclusion from previous I-AUV projects and separate research in navigation and docking were consolidated to form a guideline for autonomous underwater docking. The example of docking on intervention panel was chosen to show how the standard can be expanded to improve on the key factors: navigational precision, reliability and mechanics. Particular results are shown for localization techniques to use in navigation in the vicinity of the docking panel. Also mechanical structure is put forward to optimize the panel for autonomous operation.JRC.G.4-Maritime affair