Vision-based control for an AUV in a multi-robot undersea intervention task

This paper presents a novel vision-based framework for controlling an Autonomous Underwater Vehicle (AUV). In our application, this AUV is in charge of providing an alternative point of view of a predefined target during a multi-robot intervention mission, where two vehicles cooperate in order to perform the required task. Given this scenario, our framework is based on two main modules: on the one hand, a target detection and tracking module is used to determine the position of the target in the scene; on the other hand, a visual servoing module generates the required velocities for controlling the platform according to the estimated position of the target in the image plane. Results for a set of experiments in different environments are reported and discussed

MUSSOL: A Micro-Uas to Survey Ship Cargo hOLds

Because of their high maneuverability and fast deployment times, aerial robots have recently gained popularity for automating inspection tasks. In this paper, we address the visual inspection of vessel cargo holds, aiming at safer, cost-efficient and more intensive visual inspections of ships by means of a multirotor-type platform. To this end, the vehicle is equipped with a sensor suite able to supply the surveyor with imagery from relevant areas, while the control software is supporting the operator during flight with enhanced functionalities and reliable autonomy. All this has been accomplished in the context of the supervised autonomy (SA) paradigm, by means of extensive use of behaviour-based high-level control (including obstacle detection and collision prevention), all specifically devised for visual inspection. The full system has been evaluated both in laboratory and in real environments, on-board two different vessels. Results show the vehicle effective for the referred application, in particular due to the inspection-oriented capabilities it has been fitted with

Vision-Based Corrosion Detection Assisted by a Micro-Aerial Vehicle in a Vessel Inspection Application

Vessel maintenance requires periodic visual inspection of the hull in order to detect typical defective situations of steel structures such as, among others, coating breakdown and corrosion. These inspections are typically performed by well-trained surveyors at great cost because of the need for providing access means (e.g., scaffolding and/or cherry pickers) that allow the inspector to be at arm’s reach from the structure under inspection. This paper describes a defect detection approach comprising a micro-aerial vehicle which is used to collect images from the surfaces under inspection, particularly focusing on remote areas where the surveyor has no visual access, and a coating breakdown/corrosion detector based on a three-layer feed-forward artificial neural network. As it is discussed in the paper, the success of the inspection process depends not only on the defect detection software but also on a number of assistance functions provided by the control architecture of the aerial platform, whose aim is to improve picture quality. Both aspects of the work are described along the different sections of the paper, as well as the classification performance attained

A robot application to marine vessel inspection

Seagoing vessels have to undergo regular inspections, which are currently performed manually by ship surveyors. The main cost factor in a ship inspection is to provide access to the different areas of the ship, since the surveyor has to be close to the inspected parts, usually within arm's reach, either to perform a visual analysis or to take thickness measurements. The access to the structural elements in cargo holds, e.g., bulkheads, is normally provided by staging or by 'cherry-picking' cranes. To make ship inspections safer and more cost-efficient, we have introduced new inspection methods, tools, and systems, which have been evaluated in field trials, particularly focusing on cargo holds. More precisely, two magnetic climbing robots and a micro-aerial vehicle, which are able to assist the surveyor during the inspection, are introduced. Since localization of inspection data is mandatory for the surveyor, we also introduce an external localization system that has been verified in field trials, using a climbing inspection robot. Furthermore, the inspection data collected by the robotic systems are organized and handled by a spatial content management system that enables us to compare the inspection data of one survey with those from another, as well as to document the ship inspection when the robot team is used. Image-based defect detection is addressed by proposing an integrated solution for detecting corrosion and cracks. The systems' performance is reported, as well as conclusions on their usability, all in accordance with the output of field trials performed onboard two different vessels under real inspection conditions

Weaning from mechanical ventilation in intensive care units across 50 countries (WEAN SAFE): a multicentre, prospective, observational cohort study

International audienceBackground: Current management practices and outcomes in weaning from invasive mechanical ventilation are poorly understood. We aimed to describe the epidemiology, management, timings, risk for failure, and outcomes of weaning in patients requiring at least 2 days of invasive mechanical ventilation. Methods: WEAN SAFE was an international, multicentre, prospective, observational cohort study done in 481 intensive care units in 50 countries. Eligible participants were older than 16 years, admitted to a participating intensive care unit, and receiving mechanical ventilation for 2 calendar days or longer. We defined weaning initiation as the first attempt to separate a patient from the ventilator, successful weaning as no reintubation or death within 7 days of extubation, and weaning eligibility criteria based on positive end-expiratory pressure, fractional concentration of oxygen in inspired air, and vasopressors. The primary outcome was the proportion of patients successfully weaned at 90 days. Key secondary outcomes included weaning duration, timing of weaning events, factors associated with weaning delay and weaning failure, and hospital outcomes. This study is registered with ClinicalTrials.gov, NCT03255109. Findings: Between Oct 4, 2017, and June 25, 2018, 10 232 patients were screened for eligibility, of whom 5869 were enrolled. 4523 (77·1%) patients underwent at least one separation attempt and 3817 (65·0%) patients were successfully weaned from ventilation at day 90. 237 (4·0%) patients were transferred before any separation attempt, 153 (2·6%) were transferred after at least one separation attempt and not successfully weaned, and 1662 (28·3%) died while invasively ventilated. The median time from fulfilling weaning eligibility criteria to first separation attempt was 1 day (IQR 0–4), and 1013 (22·4%) patients had a delay in initiating first separation of 5 or more days. Of the 4523 (77·1%) patients with separation attempts, 2927 (64·7%) had a short wean (≤1 day), 457 (10·1%) had intermediate weaning (2–6 days), 433 (9·6%) required prolonged weaning (≥7 days), and 706 (15·6%) had weaning failure. Higher sedation scores were independently associated with delayed initiation of weaning. Delayed initiation of weaning and higher sedation scores were independently associated with weaning failure. 1742 (31·8%) of 5479 patients died in the intensive care unit and 2095 (38·3%) of 5465 patients died in hospital. Interpretation: In critically ill patients receiving at least 2 days of invasive mechanical ventilation, only 65% were weaned at 90 days. A better understanding of factors that delay the weaning process, such as delays in weaning initiation or excessive sedation levels, might improve weaning success rates. Funding: European Society of Intensive Care Medicine, European Respiratory Society