Download or read book Artificial Lateral Line Systems for Feedback Control of Underwater Robots written by Ahmad AbdulSadda and published by . This book was released on 2012 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Bionic Sensing with Artificial Lateral Line Systems for Fish Like Underwater Robots written by Guangming Xie and published by CRC Press. This book was released on 2022-08-23 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, the authors first introduce two fish-like underwater robots, including a multiple fins-actuated robotic fish and a caudal fin-actuated robotic fish with a barycenter regulating mechanism. They study how a robotic fish uses its onboard pressure sensor arrays based-ALLS to estimate its trajectory in multiple locomotions, including rectilinear motion, turning motion, ascending motion, and spiral motion. In addition, they also explore the ALLS-based relative position and attitude perception between two robotic fish in a leader-follower formation. Four regression methods—multiple linear regression methods, support vector regressions, back propagation neural networks, and random forest methods—are used to evaluate the relative positions or attitudes using the ALLS data. The research on ALLS-based local sensing between two adjacent fish robots extends current research from one individual underwater robot to two robots in formation, and will attract increasing attention from scholars of robotics, underwater technology, biomechanics and systems, and control engineering.
Download or read book Bioinspired Sensing Actuation and Control in Underwater Soft Robotic Systems written by Derek A. Paley and published by Springer Nature. This book was released on 2020-11-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-22 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Download or read book Design of Pressure Sensing Elements for Artificial Lateral Line System of a Biomimetic Underwater Vehicle written by 謝宗穎 and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by Springer Nature. This book was released on 2019-10-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in the field of underwater technologies, industrial maritime applications, and maritime science.
Download or read book Visual Perception and Control of Underwater Robots written by Junzhi Yu and published by CRC Press. This book was released on 2021-03-01 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual Perception and Control of Underwater Robots covers theories and applications from aquatic visual perception and underwater robotics. Within the framework of visual perception for underwater operations, image restoration, binocular measurement, and object detection are addressed. More specifically, the book includes adversarial critic learning for visual restoration, NSGA-II-based calibration for binocular measurement, prior knowledge refinement for object detection, analysis of temporal detection performance, as well as the effect of the aquatic data domain on object detection. With the aid of visual perception technologies, two up-to-date underwater robot systems are demonstrated. The first system focuses on underwater robotic operation for the task of object collection in the sea. The second is an untethered biomimetic robotic fish with a camera stabilizer, its control methods based on visual tracking. The authors provide a self-contained and comprehensive guide to understand underwater visual perception and control. Bridging the gap between theory and practice in underwater vision, the book features implementable algorithms, numerical examples, and tests, where codes are publicly available. Additionally, the mainstream technologies covered in the book include deep learning, adversarial learning, evolutionary computation, robust control, and underwater bionics. Researchers, senior undergraduate and graduate students, and engineers dealing with underwater visual perception and control will benefit from this work.
Download or read book Artificial Lateral Line Canal System for Underwater Disturbance Sensing written by Nannan Chen and published by ProQuest. This book was released on 2008 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lateral line is a primitive sensory organ commonly found in fish. It plays a vital role in the normal activities of fish including schooling, station holding, prey capture and predator avoidance. The lateral line is a good source of information when visibility is limited or impossible. For instance, a blind cave fish can "see" by imaging the distortion of a self-generated flow field with 1 mm resolution. Functionality of the lateral line has been actively studied by biologists. A type of canal-like lateral line is of particular interest. It consists of flow sensing neuromasts embedded in a canal structure that contains pores. Outside disturbances cause pressure differences between pores and hence induce flow inside the canal. Studies show that fish use this type of canal structure as a mechanical filter to enhance disturbance sensing under noisy flow conditions, such as in running water.
Download or read book Underwater Robots written by Gianluca Antonelli and published by . This book was released on 2006-06-13 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.
Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in the field of underwater technologies, industrial maritime applications, and maritime science.
Download or read book Advances in Guidance Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2023-02-10 with total page 7455 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Download or read book From Animals to Animats 11 written by Stephane Doncieux and published by Springer Science & Business Media. This book was released on 2010-08-11 with total page 676 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume constitutes the refereed proceedings of the 11th International Conference on Simulation and Adaptive Behavior, SAB 2010, held in Paris and Clos Lucé, France, in August 2010. The articles cover all main areas in animat research, including perception and motor control, action selection, motivation and emotion, internal models and representation, collective behavior, language evolution, evolution and learning. The authors focus on well-defined models, computer simulations or robotic models, that help to characterize and compare various organizational principles, architectures, and adaptation processes capable of inducing adaptive behavior in real animals or synthetic agents, the animats.
Download or read book Advances in Manufacturing and Processing of Materials and Structures written by Yoseph Bar-Cohen and published by CRC Press. This book was released on 2018-09-03 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in Manufacturing and Processing of Materials and Structures cover the latest advances in materials and structures in manufacturing and processing including additive and subtractive processes. It's intended to provide a compiled resource that reviews details of the advances that have been made in recent years in manufacturing and processing of materials and structures. A key development incorporated within this book is 3D printing, which is being used to produce complex parts including composites with odd shape fibers, as well as tissue and body organs. This book has been tailored for engineers, scientists and practitioners in different fields such as aerospace, mechanical engineering, materials science and biomedicine. Biomimetic principles have also been integrated. Features Provides the latest state-of-the art on different manufacturing processes, including a biomimetics viewpoint Offers broad coverage of advances in materials and manufacturing Written by chapter authors who are world-class researchers in their respective fields Provides in-depth presentation of the latest 3D and 4D technologies related to various manufacturing disciplines Provides substantial references in each chapter to enhance further study
Download or read book Flow Sensing in Air and Water written by Horst Bleckmann and published by Springer Science & Business Media. This book was released on 2014-01-22 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, leading scientists in the fields of sensory biology, neuroscience, physics and engineering explore the basic operational principles and behavioral uses of flow sensing in animals and how they might be applied to engineering applications such as autonomous control of underwater or aerial vehicles. Although humans possess no flow-sensing abilities, countless aquatic (e.g. fish, cephalopods and seals), terrestrial (e.g. crickets and spiders) and aerial (e.g. bats) animals have flow sensing abilities that underlie remarkable behavioral feats. These include the ability to follow silent hydrodynamic trails long after the trailblazer has left the scene, to form hydrodynamic images of their environment in total darkness, and to swim or fly efficiently and effortlessly in the face of destabilizing currents and winds.
Download or read book Bio inspired Pressure Sensing for Active Yaw Control of Underwater Vehicles written by Amy Ruiming Gao and published by . This book was released on 2013 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: A towed underwater vehicle equipped with a bio-inspired artificial lateral line (ALL) was constructed and tested with the goal of active detection and correction of the vehicle's yaw angle. Preliminary experiments demonstrate that a low number of sensors are sufficient to enable the discrimination between different orientations, and that a basic proportional controller is capable of keeping the vehicle aligned with the direction of flow. We propose that a model based controller could be developed to improve system response. Toward this, we derive a vehicle model based on a first-order 3D Rankine Source Panel Method, which is shown to be competent in estimating the pressure field in the region of interest during motion at constant angles, and during execution of dynamic maneuvers. To solve the inverse problem of estimating the vehicle orientation given specific pressure measurements, an Unscented Kalman Filter is developed around the model. It is shown to provide a close estimation of the vehicle state using experimentally collected pressure measurements. This demonstrates that an artificial lateral line is a promising technology for dynamically mediating the angle of a body relative to the oncoming flow.
Download or read book The Lateral Line System written by Sheryl Coombs and published by Springer Science & Business Media. This book was released on 2013-10-23 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Lateral Line System provides an overview of the key concepts and issues surrounding the development, evolution, neurobiology, and function of the lateral line, a fascinating yet somewhat enigmatic flow-sensing system. The book examines the historical precedence for linking the auditory and lateral line systems, its structure and development, use of the lateral line system of zebrafish as a model system, physical principles governing the response properties of the lateral line, the behavioral relevance of this sensory system to the lives of fish, and an examination of how this information is shaped and encoded by the peripheral and central nervous systems. Contents The Gems of the Past: A Brief History of Lateral Line Research in the Context of the Hearing Sciences - Sheryl Coombs and Horst Bleckmann Morphological Diversity, Development, and Evolution of the Mechanosensory Lateral Line System - Jacqueline F. Webb The Hydrodynamic of Flow Stimuli - Matthew J. McHenry and James C. Liao The Biophysics of the Fish Lateral Line - Sietse M. van Netten and Matthew J. McHenry Sensory Ecology and Neuroethology of the Lateral Line - John Montgomery, Horst Bleckmann, and Sheryl Coombs Information Encoding and Processing by the Peripheral Lateral Line System - Boris Philippe Chagnaud and Sheryl Coombs The Central Nervous Organization of the Lateral Line System - Mario F. Wullimann and Benedikt Grothe Central Processing of Lateral Line Information - Horst Bleckmann and Joachim Mogdans Functional Overlap and Nonoverlap Between Lateral Line and Auditory Systems - Christopher B. Braun and Olav Sand The Hearing Loss, Protection, and Regeneration in the Larval Zebrafish Lateral Line - Allison B. Coffin, Heather Brignull, David W. Raible, and Edwin W Rubel
Download or read book Snake Robots written by Pål Liljebäck and published by Springer Science & Business Media. This book was released on 2012-06-13 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results. Snake Robots is written in a clear and easily understandable manner which makes the material accessible by specialists in the field and non-experts alike. Numerous illustrative figures and images help readers to visualize the material. The book is particularly useful to new researchers taking on a topic related to snake robots because it provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area.
