Download or read book From Virtual World to Reality Designing an Autonomous Underwater Robot written by and published by . This book was released on 1992 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of autonomous underwater robots is particularly difficult due to the physical and sensor challenges of the underwater environment. Inaccessibility during operation and low probability of failure recovery makes robot stability and reliability paramount. Building an accurate and complete virtual world simulation is proposed as a necessary prerequisite for design of an autonomous underwater robot. A virtual world can include actual robot components and models for all other aspects of the world. Robot design can be fully tested using a virtual world and then verified using the real world. Additional testing can be performed in the virtual world that is not feasible in the real world. Visualization of robot interactions within a virtual world permits sophisticated analysis of robot performance that is otherwise unavailable. All aspects of world modeling and robot design must be mastered and coordinated in order to build an authentic virtual world and capable autonomous robot.
Download or read book A Virtual World for an Autonomous Underwater Vehicle written by Donald P. Brutzman and published by . This book was released on 1994 with total page 271 pages. Available in PDF, EPUB and Kindle. Book excerpt: A critical bottleneck exists in Autonomous Underwater Vehicles (AUV) design and development. It is tremendously difficult to observe, communicate with and test underwater robots, because they operate in a remote and hazardous environment where physical dynamics and sensing modalities are counter intuitive. An underwater virtual world can comprehensively model all salient functional characteristics of the real world in real time. This virtual world is designed from the perspective of the robot, enabling realistic AUV evaluation and testing in the laboratory. Three-Dimensional real-time computer graphics are our window into that virtual world. Visualization of robot interactions within a virtual world permits sophisticated analyses of robot performance that are otherwise unavailable. Sonar visualization permits researchers to accurately 'look over the robot's shoulder' or even 'see through the robot's eyes' to intuitively understand sensor-environment interactions. Extending the theoretical derivation of a set of six-degree-of-freedom hydrodynamics equations has provided a fully general physics-based model capable of producing highly non-linear yet experimentally-verifiable response in real time. Distribution of underwater virtual world components enables scalability and real-time response. The IEEE Distributed Interactive Simulation (DIS) protocol is used for compatible live interaction with other virtual worlds. Network connections allow remote access, demonstrated via Multicast Backbone (MBone) audio and video collaboration with researchers at remote locations. Integrating the World-Wide Web allows rapid access to resources distributed across the Internet.
Download or read book A Virtual World for an Autonomous Underwater Vehicle written by Donald P. Brutzman and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A critical bottleneck exists in Autonomous Underwater Vehicles (AUV) design and development. It is tremendously difficult to observe, communicate with and test underwater robots, because they operate in a remote and hazardous environment where physical dynamics and sensing modalities are counter intuitive. An underwater virtual world can comprehensively model all salient functional characteristics of the real world in real time. This virtual world is designed from the perspective of the robot, enabling realistic AUV evaluation and testing in the laboratory. Three-Dimensional real-time computer graphics are our window into that virtual world. Visualization of robot interactions within a virtual world permits sophisticated analyses of robot performance that are otherwise unavailable. Sonar visualization permits researchers to accurately 'look over the robot's shoulder' or even 'see through the robot's eyes' to intuitively understand sensor-environment interactions. Extending the theoretical derivation of a set of six-degree-of-freedom hydrodynamics equations has provided a fully general physics-based model capable of producing highly non-linear yet experimentally-verifiable response in real time. Distribution of underwater virtual world components enables scalability and real-time response. The IEEE Distributed Interactive Simulation (DIS) protocol is used for compatible live interaction with other virtual worlds. Network connections allow remote access, demonstrated via Multicast Backbone (MBone) audio and video collaboration with researchers at remote locations. Integrating the World-Wide Web allows rapid access to resources distributed across the Internet.
Download or read book Software Reference written by Donald P. Brutzman and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Software Reference documents and summarizes all source code produced for a Ph. D. dissertation constructing an underwater virtual world for an Autonomous Underwater Vehicle (AUV). A critical bottleneck exists in Autonomous Underwater Vehicle design and development. It is tremendously difficult to observe, communicate with and test underwater robots, because they operate in a remote and hazardous environment where physical dynamics and sensing modalities are counterintuitive. An underwater virtual world can comprehensively model all salient functional characteristics of the real world in real time. This virtual world is designed from the perspective of the robot, enabling realistic AUV evaluation and testing in the laboratory. Three- dimensional real-time computer graphics are our window into that virtual world. Visualization of robot interactions within a virtual world permits sophisticated analyses of robot performance that are otherwise unavailable. Sonar visualization permits researchers to accurately look over the robot's shoulder or even see through the robot's eyes to intuitively understand sensor- environment interactions. Extending the theoretical derivation of a set of six degree-of-freedom hydrodynamics equations has provided a fully general physics- based model capable of producing highly nonlinear yet experimentally-verifiable response in real time.
Download or read book Proceedings of the Technology and the Mine Problem Symposium written by Albert M. Bottoms and published by . This book was released on 1996 with total page 756 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mechatronic Futures written by Peter Hehenberger and published by Springer. This book was released on 2016-06-10 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offering a comprehensive overview of the challenges, risks and options facing the future of mechatronics, this book provides insights into how these issues are currently assessed and managed. Building on the previously published book ‘Mechatronics in Action,’ it identifies and discusses the key issues likely to impact on future mechatronic systems. It supports mechatronics practitioners in identifying key areas in design, modeling and technology and places these in the wider context of concepts such as cyber-physical systems and the Internet of Things. For educators it considers the potential effects of developments in these areas on mechatronic course design, and ways of integrating these. Written by experts in the field, it explores topics including systems integration, design, modeling, privacy, ethics and future application domains. Highlighting novel innovation directions, it is intended for academics, engineers and students working in the field of mechatronics, particularly those developing new concepts, methods and ideas.
Download or read book Underwater Telerobotics and Virtual Reality A New Technology Partnership written by and published by . This book was released on 1986 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite major advances in autonomous vehicle technologies, human-control led ROVs (remotely-operated vehicles) continue to fill an important role in underwater work. To perform effectively, however, the human operator requires meaningful cues for spatial orientation, good workspace visibility, and tight feedback about manipulator behavior. These needs can be hard to support in actual undersea operations. Telerobot designers for space missions have addressed these challenges by presenting a graphic, virtual reality model of the workspace to the operator, who then performs tasks on this representation of the actual work site. Real-time graphic modeling can (1) maintain a continuous, clear depiction of the workspace that is largely independent of communications bandwidth, (2) allow arbitrary shading and perspective of the workspace, (3) provide integrated navigation and orienting cues, and (4) support a rich, multi-sensory feedback environment. The use of virtual reality technologies for operator interface design is being investigated at NCCOSC for undersea ROV applications. A general-purpose virtual reality testbed is described which involves a dedicated virtual reality system for underwater applications, together with a manipulator system and supporting software. The objectives of the testbed are to examine fundamental human performance and engineering issues connected with operating on a virtual workspace for real telerobotic tasks, and to benchmark emerging telerobotic technologies in a standardized test environment.
Download or read book Artificial Intelligence and Mobile Robots written by David Kortenkamp and published by American Association for Artif. This book was released on 1998 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: The mobile robot systems described in this book were selected from among the best available implementations by leading universities and research laboratories. These are robots that have left the lab and been tested in natural and unknown environments. They perform many different tasks, from giving tours to collecting trash. Many have distinguished themselves (usually with first- or second-place finishes) at various indoor and outdoor mobile robot competitions. Each case study is self-contained and includes detailed descriptions of important algorithms, including pseudo-code. Thus this volume serves as a recipe book for the design of successful mobile robot applications. Common themes include navigation and mapping, computer vision, and architecture. Contributors Ronald Arkin, Tucker Balch, Michael Brady, Don Brutzman, Arno Bucken, R. James Firby, Erann Gat, Tony Healy, Ian Horswill, Housheng Hu, Sven Koenig, Kurt Konolige David Kortenkamp, Dave Marco, Bob McGhee, Robin Murphy, Karen Myers, Illah Nourbakhsh, Peter Prokopowicz, Bill Schiller, Reid Simmons, Michael Swain, Sebastian Thrun
Download or read book Intelligent Virtual System for Underwater Vehicle Piloting using UnityTM written by Cheng Siong Chin and published by CRC Press. This book was released on 2020-12-22 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book supports readers in the development of a remotely operated vehicle (ROV) pilot training simulator by exploiting open-source or free gaming software and emphasizing the importance of using established and widely-available game design techniques to provide engaging scenarios for ROV training developers and trainees. There is no such book to guide the users to create an open-source virtual simulator for pilot training in the marine and offshore industry. This book can be used as a reference for undergraduate and postgraduate students, engineers, researchers, and lecturers in VR simulation using UnityTM as the leading software. Some of the key features of the book include: • Step-by-step procedures in development ROV pilot training simulator • Use of open-source software UnityTM that is freely available to all readers • The codes used in the book are self-sufficient as there are no codes hidden from readers
Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
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 Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Download or read book Telemanipulator and Telepresence Technologies written by and published by . This book was released on 1995 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1996 with total page 818 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Robots written by Junku Yuh and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.
