Article
Engineering, Marine
Vahid Madanipour, Farid Najafi
Summary: Cleaning ship's fouling can greatly improve ship's performance by increasing speed, reducing fuel costs, and minimizing cavitation damage. This paper investigates the dynamic behavior of an underwater cleaning brush system, considering environmental interaction forces and comparing the results with experimental data. The findings provide valuable insights for designing an efficient hull cleaning robot that maintains surface quality while protecting the ship's hull and antifouling coating.
Article
Engineering, Marine
Wangyuan Zhao, Fenglei Han, Xinjie Qiu, Xiao Peng, Yiming Zhao, Jiawei Zhang
Summary: In this article, a filter-guided inverse dark channel inversion exposure compensation (FIDCE) algorithm is proposed for the ambiguous image, and MFONet, a pixel-level segmentation model, is also proposed. This algorithm can be used for a priori study of biofouling and the cleaning operation of the robot, resulting in more accurate and quicker identification of biofouling.
Article
Engineering, Marine
Qingzhong Li, Tong Chen, Yuan Chen, Zeyang Wang
Summary: In this paper, an underwater bionic crab soft robot based on dielectric elastomer (DE) is developed, which has high adaptability and seamless interaction with human beings. Through regulation of the power supply and frequency, it can achieve multidirectional movement and obstacle avoidance capability in water. The fastest ascent speed of the bionic soft robot in water is 37.5 mm/s. The hydrodynamic theoretical model and computational fluid dynamics simulations are used to optimize the swimming efficiency. Experimental results verify the correctness of the theoretical models and numerical simulations. Compared with other underwater soft robots, bionic soft robots have outstanding advantages such as fast speed, high efficiency, multiple modes of motion and excellent underwater adaptability.
Article
Engineering, Marine
Lifen Hu, Ming Zhang, Xingxing Yu, Zhi-Ming Yuan, Wubin Li
Summary: This study proposes a novel and practical control strategy that can effectively suppress roll motion of ships under realistic random wave conditions. The approach utilizes a real-time controller based on model predictive control (MPC) that is actuated by a dual gyrostabilizer. The proposed method's efficacy is validated by comparing with a roll stabilization scenario of a particular ship in the literature, and control performance of a standard ship under regular and irregular wave conditions is separately discussed. Results indicate that the proposed method can significantly reduce roll motion amplitude and is feasible for nonlinear ship motion control problems.
Article
Automation & Control Systems
Mrudul Chellapurath, Kyle L. Walker, Enrico Donato, Giacomo Picardi, Sergio Stefanni, Cecilia Laschi, Francesco Giorgio-Serchi, Marcello Calisti
Summary: The passive station keeping performance of underwater legged robots was studied to improve efficiency by configuring legs, net weight, and substrate characteristics; a numerical model was developed to study the impact of parameters on station keeping performance and predict robot behavior; underwater legged robots showed higher station keeping efficiency than conventional propeller-based ROVs, making them a potential alternative for tasks such as environmental monitoring.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Electrical & Electronic
Alessandro Sardellitti, Filippo Milano, Marco Laracca, Salvatore Ventre, Luigi Ferrigno, Antonello Tamburrino
Summary: Thickness measurements of metallic plates are mandatory in many industrial scenarios. Eddy-current testing (ECT) methods are attractive for online contactless thickness measurements. However, the current ECT technique has limitations in measuring thicker materials. In this article, we analyze the theoretical foundation of the method and propose two solutions to accurately estimate the thickness of materials. Numerical analysis and experiments confirm the effectiveness of the proposed solutions, making the method suitable for industrial and other applications.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Engineering, Marine
Ross Eldred, Johnathan Lussier, Anthony Pollman
Summary: This article details the design, construction, and implementation of a novel spherical unmanned underwater vehicle prototype, the Wreck Interior Exploration Vehicle (WIEVLE). The vehicle is specifically designed for operations within confined, entanglement-prone marine environments, particularly for exploring shipwreck interiors. The key attributes of the design include a smooth spherical hull with 360-degree sensor coverage and a fixed, upward-angled thruster core.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
Article
Chemistry, Analytical
Ivan Stenius, John Folkesson, Sriharsha Bhat, Christopher Iliffe Sprague, Li Ling, Ozer Ozkahraman, Nils Bore, Zheng Cong, Josefine Severholt, Carl Ljung, Anna Arnwald, Ignacio Torroba, Fredrik Grondahl, Jean-Baptiste Thomas
Summary: This paper outlines the challenges and opportunities in operating underwater robots on a seaweed farm and demonstrates the development of key technologies. Data from sidescan sonars are collected from real environments and used for algorithm development in a simulated seaweed farm setup.
Article
Robotics
Giacomo Picardi, Helmut Hauser, Cecilia Laschi, Marcello Calisti
Summary: This study presents an underwater hopping robot that can induce stable hopping behavior by changing its body size, demonstrating the effectiveness of morphological change as an alternative to classic control. By utilizing shape-dependent forces, the dynamics of the system can be modified through altering the morphology of the body, leading to desirable behavior in certain conditions where the controller is already at maximum capacity.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Robotics
Zhiguo He, Yang Yang, Pengcheng Jiao, Haipeng Wang, Guanzheng Lin, Thomas Paehtz
Summary: This study presents the design and construction of a combustion-driven underwater soft robot, called copebot, that can accurately reach predefined locations through curved jumps, similar to copepods. The copebot is eight times faster than previous combustion-driven underwater soft robots and can perform a complete 360 degrees rotation during the jump. This design paves the way for high-performance biomimetic robots for multifunctional applications.
Article
Automation & Control Systems
Xianxin Zhou, Kai Li, Yingxiang Liu, Jianhua Sun, Hengyu Li, Weishan Chen, Jie Deng
Summary: In this study, a novel piezoelectric pulsed-jet actuator (PJA) was proposed as the power source for an antihydropressure miniature cross-shaped underwater robot (CSUR). The robot achieved various motions in both vertical and horizontal directions, with a maximum linear velocity of 47.8 mm/s. It demonstrated good adaptability to high-pressure environments and the ability to navigate around obstacles along an S-shaped path.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Electrical & Electronic
Xihuan Hou, Zan Li, Shuxiang Guo, Liwei Shi, Huiming Xing, He Yin
Summary: This paper presents a double closed-loop backstepping controller for 3D trajectory tracking of a turtle-inspired amphibious spherical robot. The proposed controller tackles the challenges of model uncertainties, environmental disturbances, and unmeasured velocity. It uses a virtual feedback variable and tracking differentiators to simplify the controller design and avoid differentiation explosion. A linear extended state observer is utilized to estimate and compensate for lumped disturbances and unmeasured velocity states. The simulations demonstrate the feasibility and superiority of the proposed method.
Article
Engineering, Marine
Chunying Li, Shuxiang Guo
Summary: A new attitude regulator based on the counterweight mechanism is proposed for perceiving and regulating the attitude of a Spherical Underwater Robot (SUR). The regulator shows practical value and presents a challenging task.
Article
Engineering, Marine
Malte von Benzon, Fredrik Fogh Sorensen, Esben Uth, Jerome Jouffroy, Jesper Liniger, Simon Pedersen
Summary: This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2, which has been experimentally validated for benchmark control algorithms for underwater vehicles. The model includes kinematic, hydrodynamic and dynamic models, as well as gravitational and buoyant forces. It provides a benchmark for future control schemes for position control and trajectory tracking under environmental disturbances.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Marine
Francesco Ruscio, Riccardo Costanzi, Nuno Gracias, Josep Quintana, Rafael Garcia
Summary: Monitoring is crucial for marine environment preservation. This research proposes a framework that enables an autonomous underwater vehicle equipped with a down-looking camera to inspect the boundary of Posidonia oceanica meadows. The proposed solution utilizes machine learning and computer vision techniques to achieve this task.
Article
Computer Science, Information Systems
Roemi Fernandez, Hector Montes, Jelena Surdilovic, Dragojlub Surdilovic, Pablo Gonzalez-De-Santos, Manuel Armada
Article
Agronomy
Eduardo Navas, Roemi Fernandez, Delia Sepulveda, Manuel A. Armada, Pablo Gonzalez-de-Santos
Review
Agronomy
Pablo Gonzalez-de-Santos, Roemi Fernandez, Delia Sepulveda, Eduardo Navas, Luis Emmi, Manuel Armada
Review
Chemistry, Analytical
Eduardo Navas, Roemi Fernandez, Delia Sepulveda, Manuel Armada, Pablo Gonzalez-de-Santos
Summary: This review provides an in-depth look at the use of soft end-effectors in agricultural applications, with a special focus on robotic harvesting. It analyzes the current state of automatic picking tasks for various crops, identifies crops lacking automatic solutions, and discusses methods commonly used based on the botanical characteristics of the fruits.
Article
Agronomy
Eduardo Navas, Roemi Fernandez, Manuel Armada, Pablo Gonzalez-de-Santos
Summary: Soft actuator technology is gaining popularity in robotic manipulation, but its potential advantages in agriculture and new design approaches for soft grippers are understudied. The versatility and adaptability of soft grippers in handling different crops have been demonstrated through experimental tests.
Proceedings Paper
Automation & Control Systems
Eduardo Navas, Roemi Fernandez, Delia Sepulveda, Manuel Armada, Pablo Gonzalez-de-Santos
FOURTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, ROBOT 2019, VOL 2
(2020)
Proceedings Paper
Automation & Control Systems
Delia Sepulveda, Roemi Fernandez, Eduardo Navas, Pablo Gonzalez-de-Santos, Manuel Armada
FOURTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, ROBOT 2019, VOL 2
(2020)
Article
Computer Science, Information Systems
Delia Sepulveda, Roemi Fernandez, Eduardo Navas, Manuel Armada, Pablo Gonzalez-De-Santos
