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Marine robotics and applications
This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, and optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.
Book
Visual Perception and Control of Underwater Robots
This book 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 sea. The other one is an untethered biomimetic robotic fish with a camera stabilizer and 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. Meanwhile, the mainstream technologies that are 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 the book.
eBook
The last unexplored place on earth : investigating the ocean floor with Alvin the Submersible
\"Dive into the world of the Alvin Submersible in The Last Unexplored Place on Earth, as award winning journalist Aly Brown shares the stories of what lies beneath the waves, including lost hydrogen bombs, underwater volcanoes, storied shipwrecks, and hundreds of new species\"-- Provided by publisher.
Book
Deep-Sea Underwater Cooperative Operation of Manned/Unmanned Submersible and Surface Vehicles for Different Application Scenarios
In this paper, we propose three cooperative operational modes of manned and unmanned submersibles for a range of different deep-sea application scenarios. For large-scale exploration, a lander or an unmanned surface vehicle (USV) is paired with one or more autonomous underwater vehicles (AUVs), while the liberated research vessel R/V can transport the manned submersible to another area for diving operations. When manned submersibles and AUVs perform small-scale accurate measurements, the research vessel R/V supports both submersible types for diving operations and has a positioning and communication time allocation mechanism for cooperative operations. Through the analysis of the operating efficiency of different modes, we found that the cooperative operational mode based on the pure research vessel R/V is suitable for local small-scale accurate detection, and the cooperative operational mode based on the USV/lander system is suitable for large-scale and long-distance underwater operations.
Journal Article
In oceans deep : courage, innovation, and adventure beneath the waves
In an age of unprecedented exploration and innovation, our oceans remain largely unknown, and endlessly fascinating. Streever celebrates the daring pioneers who tested the limits of what the human body can endure under water as he traces both the little-known history and exciting future of how we travel and study the depths. He covers seventeenth-century leather-hulled submarines, their nuclear-powered descendants, and robots capable of roving unsupervised between continents. Discover all the adventures our seas have to offer-- and why they are in such dire need of conservation. -- adapted from jacket
Book
Enhancing hydrodynamic efficiency in Autonomous Underwater Vehicles
In recent years, there has been a significant need for high-performing and efficient Autonomous Underwater Vehicles (AUVs). This is primarily because of their use in offshore mineral exploitation and oceanographic research. While there have been notable breakthroughs in applying the adjoint technique to optimize air and land vehicles, there is still a deficiency in optimizing AUVs using the adjoint method. The present research explores how to improve the hydrodynamic efficiency of an AUV using the gradient-based adjoint technique and Proper Orthogonal Decomposition (POD). This study especially tries to minimize drag forces on the entire AUV by exclusively employing the adjoint approach on the AUV's wing. The simulation was conducted using computational fluid dynamics methodology utilizing the Reynolds-averaged Navier-Stokes (RANS) model, with velocities ranging from 0.5 m/s to 2 m/s. Numerical computations demonstrated significant reductions in drag force, with the most advantageous improvements obtained when the wing geometry was altered by 9%. More precisely, the optimization resulted in a 9% drop in drag force at a speed of 1 m/s, going from 98.91 N to 90.17 N. By traveling at a speed of 2 m/s, a significant 17% reduction in drag force was achieved, reducing it from 386.34 N to 320.90 N. This signifies a substantial improvement of 20.25% in power consumption. The POD technique was employed to determine the dominant modes in the flow field, resulting in improved simulations and a better comprehension of flow patterns.
Journal Article
The titanic secret
\"When Isaac Bell attempts to decipher the forbidding deaths of nine men, he encounters a secret so powerful it could dictate the fate of the world ... A century apart, NUMA Director Dirk Pitt and detective Isaac Bell team up to unlock the truth about the most famous maritime disaster of all time.\"-- Provided by publisher.
Book
Correction: Kim et al. Extended Probabilistic Risk Assessment of Autonomous Underwater Vehicle Docking Scenarios Considering Battery Consumption. J. Mar. Sci. Eng. 2025, 13, 1714
Figures 1 and 3 in the original paper [...]
Journal Article
The light at the bottom of the world
Teenaged Leyla McQueen, who lives beneath the ruins of a submerged London in 2099, joins a prestigious submersible race in the hope of clearing her father's name before encountering government corruption and a hidden world.
Book
Study of CFD prediction and surface roughness effect on AUV hull resistance performance
To optimize the resistance performance of autonomous underwater vehicle (AUV) hull, many previous scholars mainly studied the geometric shape and materials of AUV, but lacked the research on the surface roughness effect on the hull resistance. In this paper, take the Myring-shaped AUV hull for example, the computational domain distribution, grid independence verification and turbulence model are analyzed and discussed in detail. A computational fluid dynamics (CFD) calculation model is systematically established to predict the resistance performance of AUV hull. The simulation results are in good agreement with the theoretical data, which proves the reliability of the CFD model. Subsequently, the surface roughness effect on the hull drag is studied. First, taking the hull surface roughness height [K.sub.s] as 0.8 [micro]m–100 [micro]m, the friction resistance, pressure resistance and total resistance changes of the hull with the surface roughness height [K.sub.s] are studied when the advance speed is 1.5 m/s. It is found that the total resistance is the lowest when [K.sub.s] is 27.5 [micro]m. Second, taking the surface roughness height as 0.8 [micro]m, 12.5 [micro]m, 50 [micro]m, 75 [micro]m and 100 [micro]m, the change of the hull resistance with the advance speed is analyzed. It is found that the hull resistance increases with the increase of the speed. Third, when the speed is 1 m/s, 2 m/s and 2.5 m/s, respectively, the change of the hull resistance with the surface roughness height is analyzed. The results show that the corresponding optimal surface roughness heights are 39 [micro]m, 21.5 [micro]m and 17 [micro]m, respectively. Finally, the surface roughness effect on the resistance performance of a torpedo-shaped hull is analyzed. It is found that its optimal surface roughness height is very close to that of the Myring-shaped hull.
Journal Article