underwater cleaning robot: Topics by Science.gov

Sample records for underwater cleaning robot

Computer visualizations in engineering applications

NASA Astrophysics Data System (ADS)

Bills, K. C.

The use of computerized simulations of various robotic tasks via IGRIP software is reported. The projects include underwater activities demonstrating clean up of a quarry; time study of methods to store waste drums inside a facility; design walk-through of a new facility; plant layout flyover; and conceptual development and layout of new mechanisms.
A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

DTIC Science & Technology

2017-06-01

FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...June 2017 3. REPORT TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE A NEW TECHNIQUE FOR ROBOT VISION IN AUTONOMOUS UNDERWATER...Developing a technique for underwater robot vision is a key factor in establishing autonomy in underwater vehicles. A new technique is developed and
Astro Stars Camp features underwater robotics

NASA Image and Video Library

2010-06-29

Ian Tonglet, 13, (left) and Seth Malley, 13, both of Picayune, Miss., and both participants in the 2010 Astro Stars session at Stennis Space Center, work with an underwater robot during a camp activity June 29. NASA joined with the U.S. Navy for the underwater robotics exercise involving Sea Perch robots, which are simple, remotely operated underwater vehicles made from PVC pipe and other inexpensive, easily available materials. During the Stennis exercise, students used robots constructed earlier in the day to maneuver underwater and collect plastic rings, as seen to the left of Tonglet. Astro STARS (Spaceflight, Technology, Astronomy & Robotics @ Stennis) is a science and technology camp for 13-15 year olds.
Resources for Underwater Robotics Education

ERIC Educational Resources Information Center

Wallace, Michael L.; Freitas, William M.

2016-01-01

4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…
A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots

NASA Astrophysics Data System (ADS)

Imahama, Takuya; Watanabe, Keigo; Mikuriya, Kota; Nagai, Isaku

2018-02-01

In recent years, the demand of underwater investigation is increasing in the circumference of a dam, the environmental research of the shallow where approach by ship is difficult, etc. It is known, however, that for man, all over the sea, danger exists mostly, and prolonged diving has a bad influence to a human body. Then, the development of underwater exploration robots that investigate underwater instead of humans is expected. Among underwater exploration robots, it is known that robots imitating aquatic organisms have little influence on underwater environment. Therefore, at this laboratory, a Manta robot using propulsive mechanisms with pectoral fins was developed, imitating the pectoral fin of Manta. Although underwater environmental research needs a function for estimating the self-position, it is not mounted in this Manta robot. This paper explains the amount estimation of movements using optical flows. Especially, a gimbal mechanism is introduced to reduce the influence on the optical flow calculation by pitch motion of the Manta robot. Several experiments are conducted to demonstrate the usefulness of the proposed method.
A bio-inspired electrocommunication system for small underwater robots.

PubMed

Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

2017-03-29

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.
Seeking Teachers for Underwater Robotics PD Program

ERIC Educational Resources Information Center

McGrath, Beth; Sayres, Jason

2012-01-01

With funding from the National Science Foundation (NSF), ITEEA members will contribute to the development of a hybrid professional development program designed to facilitate the scale-up of an innovative underwater robotics curriculum. WaterBotics[TM] is an underwater robotics curriculum that targets students in middle and high school classrooms…
Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns.

PubMed

Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Y; Gravdahl, Jan T

2015-01-01

Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined areas. This is interesting for inspection and monitoring operations, for instance within the subsea oil and gas industry and within marine archeology. In addition, underwater snake robots can provide both inspection and intervention capabilities and are thus interesting candidates for the next generation inspection and intervention AUVs. Furthermore, bioinspired locomotion through oscillatory gaits, like lateral undulation and eel-like motion, is interesting from an energy efficiency point of view. Increasing the motion efficiency in terms of the achieved forward speed by improving the method of propulsion is a key issue for underwater robots. Moreover, energy efficiency is one of the main challenges for long-term autonomy of these systems. In this study, we will consider both these two aspects of efficiency. This paper considers the energy efficiency of swimming snake robots by presenting and experimentally investigating fundamental properties of the velocity and the power consumption of an underwater snake robot for both lateral undulation and eel-like motion patterns. In particular, we investigate the relationship between the parameters of the gait patterns, the forward velocity and the energy consumption for different motion patterns. The simulation and experimental results are seen to support the theoretical findings.
ROVs in a Bucket: Contagious, Experiential Learning by Building Inexpensive, Underwater Robots

DTIC Science & Technology

2007-01-01

R., “Toward an applied theory of experiential learning ,” in C. Cooper (ed.) Theories of Group Process, London: John Wiley. (1975) [8] C. Beard, JP...ROVs in a Bucket” Contagious, Experiential Learning by Building Inexpensive, Underwater Robots Douglas R. Levin Krista Trono Christine...Contagious, Experiential Learning by Building Inexpensive, Underwater Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S
Fitting primitive shapes in point clouds: a practical approach to improve autonomous underwater grasp specification of unknown objects

NASA Astrophysics Data System (ADS)

Fornas, D.; Sales, J.; Peñalver, A.; Pérez, J.; Fernández, J. J.; Marín, R.; Sanz, P. J.

2016-03-01

This article presents research on the subject of autonomous underwater robot manipulation. Ongoing research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction in order to achieve social benefits in fields such as archaeology or biology that cannot afford the expenses of costly underwater operations using remote operated vehicles. Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and adverse conditions that affect the robot perception and control systems. To tackle these issues, we propose the use of vision and segmentation techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to gather 3D information in order to obtain a model of the object. Using a RANSAC segmentation algorithm, the model parameters are estimated and a set of feasible grasps are computed. This approach is validated in both simulated and real underwater scenarios.
Underwater Robot Task Planning Using Multi-Objective Meta-Heuristics

PubMed Central

Landa-Torres, Itziar; Manjarres, Diana; Bilbao, Sonia; Del Ser, Javier

2017-01-01

Robotics deployed in the underwater medium are subject to stringent operational conditions that impose a high degree of criticality on the allocation of resources and the schedule of operations in mission planning. In this context the so-called cost of a mission must be considered as an additional criterion when designing optimal task schedules within the mission at hand. Such a cost can be conceived as the impact of the mission on the robotic resources themselves, which range from the consumption of battery to other negative effects such as mechanic erosion. This manuscript focuses on this issue by devising three heuristic solvers aimed at efficiently scheduling tasks in robotic swarms, which collaborate together to accomplish a mission, and by presenting experimental results obtained over realistic scenarios in the underwater environment. The heuristic techniques resort to a Random-Keys encoding strategy to represent the allocation of robots to tasks and the relative execution order of such tasks within the schedule of certain robots. The obtained results reveal interesting differences in terms of Pareto optimality and spread between the algorithms considered in the benchmark, which are insightful for the selection of a proper task scheduler in real underwater campaigns. PMID:28375160
Underwater Robot Task Planning Using Multi-Objective Meta-Heuristics.

PubMed

Landa-Torres, Itziar; Manjarres, Diana; Bilbao, Sonia; Del Ser, Javier

2017-04-04

Robotics deployed in the underwater medium are subject to stringent operational conditions that impose a high degree of criticality on the allocation of resources and the schedule of operations in mission planning. In this context the so-called cost of a mission must be considered as an additional criterion when designing optimal task schedules within the mission at hand. Such a cost can be conceived as the impact of the mission on the robotic resources themselves, which range from the consumption of battery to other negative effects such as mechanic erosion. This manuscript focuses on this issue by devising three heuristic solvers aimed at efficiently scheduling tasks in robotic swarms, which collaborate together to accomplish a mission, and by presenting experimental results obtained over realistic scenarios in the underwater environment. The heuristic techniques resort to a Random-Keys encoding strategy to represent the allocation of robots to tasks and the relative execution order of such tasks within the schedule of certain robots. The obtained results reveal interesting differences in terms of Pareto optimality and spread between the algorithms considered in the benchmark, which are insightful for the selection of a proper task scheduler in real underwater campaigns.
SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots.

PubMed

Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

2017-03-11

In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.
La Vida Robot - High School Engineering Program Combats Engineering Brain Drain

ScienceCinema

Cameron, Allan; Lajvardi, Fredi

2018-05-04

Carl Hayden High School has built an impressive reputation with its robotics club. At a time when interest in science, math and engineering is declining, the Falcon Robotics club has young people fired up about engineering. Their program in underwater robots (MATE) and FIRST robotics is becoming a national model, not for building robots, but for building engineers. Teachers Fredi Lajvardi and Allan Cameron will present their story (How kids 'from the mean streets of Phoenix took on the best from M.I.T. in the national underwater bot championship' - Wired Magazine, April 2005) and how every student needs the opportunity to 'do real engineering.'
AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

PubMed Central

Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

2017-01-01

In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM) applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF) are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure. PMID:28531135
Underwater Robots Surface in Utah

ERIC Educational Resources Information Center

Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

2015-01-01

Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…
SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

PubMed Central

Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

2017-01-01

In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning. PMID:28287468
La Vida Robot - High School Engineering Program Combats Engineering Brain Drain

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cameron, Allan; Lajvardi, Fredi

Carl Hayden High School has built an impressive reputation with its robotics club. At a time when interest in science, math and engineering is declining, the Falcon Robotics club has young people fired up about engineering. Their program in underwater robots (MATE) and FIRST robotics is becoming a national model, not for building robots, but for building engineers. Teachers Fredi Lajvardi and Allan Cameron will present their story (How kids 'from the mean streets of Phoenix took on the best from M.I.T. in the national underwater bot championship' - Wired Magazine, April 2005) and how every student needs the opportunitymore » to 'do real engineering.'« less
New ultrasensitive pickup device for deep-sea robots: underwater super-HARP color TV camera

NASA Astrophysics Data System (ADS)

Maruyama, Hirotaka; Tanioka, Kenkichi; Uchida, Tetsuo

1994-11-01

An ultra-sensitive underwater super-HARP color TV camera has been developed. The characteristics -- spectral response, lag, etc. -- of the super-HARP tube had to be designed for use underwater because the propagation of light in water is very different from that in air, and also depends on the light's wavelength. The tubes have new electrostatic focusing and magnetic deflection functions and are arranged in parallel to miniaturize the camera. A deep sea robot (DOLPHIN 3K) was fitted with this camera and used for the first sea test in Sagami Bay, Japan. The underwater visual information was clear enough to promise significant improvements in both deep sea surveying and safety. It was thus confirmed that the Super- HARP camera is very effective for underwater use.
Deep Learning Methods for Quantifying Invasive Benthic Species in the Great Lakes

NASA Astrophysics Data System (ADS)

Billings, G.; Skinner, K.; Johnson-Roberson, M.

2017-12-01

In recent decades, invasive species such as the round goby and dreissenid mussels have greatly impacted the Great Lakes ecosystem. It is critical to monitor these species, model their distribution, and quantify the impacts on the native fisheries and surrounding ecosystem in order to develop an effective management response. However, data collection in underwater environments is challenging and expensive. Furthermore, the round goby is typically found in rocky habitats, which are inaccessible to standard survey techniques such as bottom trawling. In this work we propose a robotic system for visual data collection to automatically detect and quantify invasive round gobies and mussels in the Great Lakes. Robotic platforms equipped with cameras can perform efficient, cost-effective, low-bias benthic surveys. This data collection can be further optimized through automatic detection and annotation of the target species. Deep learning methods have shown success in image recognition tasks. However, these methods often rely on a labelled training dataset, with up to millions of labelled images. Hand labeling large numbers of images is expensive and often impracticable. Furthermore, data collected in the field may be sparse when only considering images that contain the objects of interest. It is easier to collect dense, clean data in controlled lab settings, but this data is not a realistic representation of real field environments. In this work, we propose a deep learning approach to generate a large set of labelled training data realistic of underwater environments in the field. To generate these images, first we draw random sample images of individual fish and mussels from a library of images captured in a controlled lab environment. Next, these randomly drawn samples will be automatically merged into natural background images. Finally, we will use a generative adversarial network (GAN) that incorporates constraints of the physical model of underwater light propagation to simulate the process of underwater image formation in various water conditions. The output of the GAN will be realistic looking annotated underwater images. This generated dataset of images will be used to train a classifier to identify round gobies and mussels in order to measure the biomass and abundance of these invasive species in the Great Lakes.

Diving beneath the Surface: Underwater Robotics Lessons Bring STEM to Life for Teachers in Guam

ERIC Educational Resources Information Center

Tweed, Anne; Arndt, Laura

2017-01-01

In spring 2014, education leaders from across Micronesia came together on the island of Guam to learn about underwater robotics and Marine Advanced Technology Education (MATE), a program based at Monterey Peninsula College in Monterey, California. Participants listened intently as they learned about building and participating in competitions with…
Robots remove explosive waste from flooded site

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1993-10-01

Explosive industrial waste can remain hazardous for years, making remediation extremely dangerous, particularly when using traditional methods involving people and manually operated equipment. The work is even more complex if the waste is submerged. Authorities in 1988 faced an unusual challenge when they decided to clean up a flooded area that had been used for more than 30 years as a dump for explosive materials. They devised an innovative but highly effective solution. Instead of using divers, two robots perform the cleanup while site personnel remain 600 feet away from the restricted area. The robots were developed by Sonsub Environmentalmore » Services Inc. (Houston), which is responsible for their operation. The robots initially located and cleared a small area underwater to set up a metal-processing system, which also was designed by Sonsub. The system is similar to a metal-recycling shredder. The robots then assembled the 25-foot-tall, 20-ton system 60 feet below the surface on the pit floor. A large, surface robot carried sections of the shredder to the cleared area and lowered them, while a smaller, submersible robot guided them into position. This required extreme precision by the smaller robot, which had to ensure that sections mated properly. Both robots now retrieve waste from the pit bottom and feed it into the shredder. The larger robot has a 40-foot jointed arm for lifting up to 1,000 pounds of debris, a manipulator hand for sorting through rock piles and removing small containers, and a grapple for picking up items from the pit floor.« less
A Survey on Intermediation Architectures for Underwater Robotics.

PubMed

Li, Xin; Martínez, José-Fernán; Rodríguez-Molina, Jesús; Martínez, Néstor Lucas

2016-02-04

Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.
A Survey on Intermediation Architectures for Underwater Robotics

PubMed Central

Li, Xin; Martínez, José-Fernán; Rodríguez-Molina, Jesús; Martínez, Néstor Lucas

2016-01-01

Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues. PMID:26861321
Design of underwater superoleophobic TiO{sub 2} coatings with additional photo-induced self-cleaning properties by one-step route bio-inspired from fish scales

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Hao; Guo, Zhiguang, E-mail: zguo@licp.cas.cn; State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000

Self-cleaning properties inspired by the structures and functions of some creatures are of great interest since the late 20th century. In this paper, TiO{sub 2} coatings with hierarchical rutile TiO{sub 2} flowers on fluorine-doped tin oxide substrate are fabricated through a simple one-step hydrothermal method. The flower-like coatings exhibit superhydrophilicity in air and superoleophobicity underwater with a contact angle as high as 157°, presenting good underwater self-cleaning performance. In addition, when contaminated by oleic acid, the as-prepared TiO{sub 2} coatings also exhibit excellent photocatalytic capability under ultraviolet irradiation, which demonstrated self-cleaning properties in a different way. This self-cleaning film providesmore » a good strategy for some industrial and ocean applications.« less
Diver Relative UUV Navigation for Joint Human-Robot Operations

DTIC Science & Technology

2013-09-01

loop response: (10) where Kej is the gain that scales the position error to force . Substituting the measured values for ζ and ων as well as the...Underwater Vehicle; Tethered ; Hovering; Autonomous Underwater Vehicle; Joint human-robot operations; dynamic, uncertain environments 15. NUMBER OF PAGES...4 Figure 3. The SeaBotix vLBV300 tethered AUV platform (left), and the planar vectored thruster
Artificial gills for robots: MFC behaviour in water.

PubMed

Ieropoulos, Ioannis; Melhuish, Chris; Greenman, John

2007-09-01

This paper reports on the first stage in developing microbial fuel cells (MFCs) which can operate underwater by utilizing dissolved oxygen. In this context, the cathodic half-cell is likened to an artificial gill. Such an underwater power generator has obvious potential for autonomous underwater robots. The electrical power from these devices increased proportionately with water flow rate, temperature and salinity. The current output at ambient temperature (null condition) was 32 microA and this increased by 200% (approximately 100 microA) as a result of a corresponding temperature increase (DeltaT) of 52 degrees C. Similarly, the effect of increasing the water flow rate resulted in an increase in the MFC output ranging from 135% to 150%. Furthermore, the same positive effect was recorded when artificial seawater was used instead, in which case the increase in the MFC current output was >100% (from 32 to 65 microA). There was a distinct difference in the MFC performance when operated under low turbulent as opposed to high turbulent flow rates. These findings can be advantageous in the design of underwater autonomous robots.
The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

NASA Astrophysics Data System (ADS)

Kurc, Krzysztof; Szybicki, Dariusz; Burghardt, Andrzej; Muszyńska, Magdalena

2016-04-01

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.
Planar maneuvering control of underwater snake robots using virtual holonomic constraints.

PubMed

Kohl, Anna M; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Y

2016-11-24

This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired planar path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints which encode biologically inspired gaits on the snake robot configuration. The virtual constraints, parametrized by states of dynamic compensators, are used to regulate the orientation and forward speed of the snake robot. A two-state ocean current observer based on relative velocity sensors is proposed. It enables the robot to follow the path in the presence of unknown constant ocean currents. The efficacy of the proposed control algorithm for several biologically inspired gaits is verified both in simulations for different path geometries and in experiments.
Development of tools and techniques for monitoring underwater artifacts

NASA Astrophysics Data System (ADS)

Lazar, Iulian; Ghilezan, Alin; Hnatiuc, Mihaela

2016-12-01

The different assessments provide information on the best methods to approach an artifact. The presence and extent of potential threats to archaeology must also be determined. In this paper we present an underwater robot, built in the laboratory, able to identify the artifact and to get it to the surface. It is an underwater remotely operated vehicle (ROV) which can be controlled remotely from the shore, a boat or a control station and communication is possible through an Ethernet cable with a maximum length of 100 m. The robot is equipped with an IP camera which sends real time images that can be accessed anywhere from within the network. The camera also has a microSD card to store the video. The methods developed for data communication between the robot and the user is present. A communication protocol between the client and server is developed to control the ROV.
An Interdisciplinary Field Robotics Program for Undergraduate Computer Science and Engineering Education

ERIC Educational Resources Information Center

Kitts, Christopher; Quinn, Neil

2004-01-01

Santa Clara University's Robotic Systems Laboratory conducts an aggressive robotic development and operations program in which interdisciplinary teams of undergraduate students build and deploy a wide range of robotic systems, ranging from underwater vehicles to spacecraft. These year-long projects expose students to the breadth of and…
Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.
Path Planning Method in Multi-obstacle Marine Environment

NASA Astrophysics Data System (ADS)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.
Study of archaeological underwater finds: deterioration and conservation

NASA Astrophysics Data System (ADS)

Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.

2010-09-01

This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.
Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.

PubMed

Calisti, M; Corucci, F; Arienti, A; Laschi, C

2015-07-30

This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.
Building Teen Futures with Underwater Robotics

ERIC Educational Resources Information Center

Wallace, Michael L.; Freitas, William M.

2016-01-01

Preparing young Americans with science and technology skills has been on the forefront of educational reform for several years, and Extension has responded. Robotics projects have become a natural fit for 4-H clubs, with members' experiences ranging from using Lego® Mindstorms® and other "purchase and assemble" robotics kits to building…
Ground Robotics Capabilities Conference and Exhibition Held in Miami, Florida on March 16-18, 2010

DTIC Science & Technology

2010-03-18

Underwater Vehicle Environmentally Non-Disturbing Under- ice Robotic Antarctic Explorer (ENDURANCE) 4/10/07 Elachi ASU 23 Possible future submersible...seeking liquid water on Europa or Enceladus 1 Ground Robotics Capability Conference and Exhibit Mr. George Solhan Office of Naval Research Code 30
A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.

PubMed

Chen, Zheng

2017-01-01

A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives. First, a physics-based and control-oriented model of IPMC actuator will be reviewed. Second, a bio-inspired robotic fish propelled by IPMC caudal fin will be presented and a steady-state speed model of the fish will be demonstrated. Third, a novel fabrication process for 3D actuating membrane will be introduced and a bio-inspired robotic manta ray propelled by two IPMC pectoral fins will be demonstrated. Fourth, a 2D maneuverable robotic fish propelled by multiple IPMC fin will be presented. Last, advantages and challenges of using IPMC artificial muscles in bio-inspired robots will be concluded.
Cleaning Robot for Solar Panels in Solar Power Station

NASA Astrophysics Data System (ADS)

Hang, Lu-Bin; Shen, Cheng-Wei; Bian, Huai-Qiang; Wang, Yan

2016-05-01

The dust particles on solar panel surface have been a serious problem for the photovoltaic industry, a new monorail-tracked robot used for automatic cleaning of solar panel is presented in this paper. To meet the requirement of comprehensive and stable cleaning of PV array, the monorail-tracked pattern of robot is introduced based on the monorail structure technique. The running and striding mechanism are designed for mobility of robot on the solar panels. According to the carrying capacity and water circulation mechanism, a type of self-cleaning device with filtering system is developed. Combined with the computer software and communications technology, the control system is built in this robot, which can realize the functions of autonomous operation, positioning and monitoring. The application of this developed cleaning robot can actualize the Industrialization of automatic cleaning for PV components and have wide market prospect.
A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics.

PubMed

Jaffe, Jules S; Franks, Peter J S; Roberts, Paul L D; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

2017-01-24

Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (<1-10 km) requires new technologies and approaches. Here we introduce the Mini-Autonomous Underwater Explorer (M-AUE), deployed as a swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.

A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics

NASA Astrophysics Data System (ADS)

Jaffe, Jules S.; Franks, Peter J. S.; Roberts, Paul L. D.; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

2017-01-01

Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (<1-10 km) requires new technologies and approaches. Here we introduce the Mini-Autonomous Underwater Explorer (M-AUE), deployed as a swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.
Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot.

PubMed

Jin, Sangrok; Bak, Jeongae; Kim, Jongwon; Seo, TaeWon; Kim, Hwa Soo

2018-01-01

This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achieved by switching between two thruster configurations. Therefore, the tilting speed of thruster becomes the most essential parameter to determine the stability of hovering motion. Even though the previous PD control ensures stable hovering motion within a certain ranges of tilting speed, a PD-SMC is suggested in this paper by combining PD control with sliding mode control in order to achieve acceptable hovering performance even at the much lower tilting speeds. Also, the sign function in the sliding mode control is replaced by a sigmoid function to reduce undesired chattering. Simulations show that while PD control is effective only for tilting duration of 600 ms, the PD-based sliding mode control can guarantee the stable hovering motion of underwater robot even for the tilting duration of up to 1500 ms. Extensive experimental results confirm the hovering performance of the proposed PD-SMC method is much superior to that of PD method for much larger tilting durations.
Underwater cleaning techniqued used for removal of zebra mussels at the FitzPatrick Nuclear Power Plant

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hobbs, B.; Kahabka, J.

1995-06-01

This paper discusses the use of a mechanical brush cleaning technology recently used to remove biofouling from the Circulating Water (CW) System at New York Power Authority`s James A. FitzPatrick Nuclear Power Plant. The FitzPatrick plant had previously used chemical molluscicide to treat zebra mussels in the CW system. Full system treatment was performed in 1992 with limited forebay/screenwell treatment in 1993. The New York Power Authority (NYPA) decided to conduct a mechanical cleaning of the intake system in 1994. Specific project objectives included: (1) Achieve a level of surface cleaniness greater than 98%; (2) Remove 100% of debris, bothmore » existing sediment and debris generated as a result of cleaning; (3) Inspect all surfaces and components, identifying any problem areas; (4) Complete the task in a time frame within the 1994-95 refueling outage schedule window, and; (5) Determine if underwater mechanical cleaning is a cost-effective zebra mussel control method suitable for future application at FitzPatrick. A pre-cleaning inspection, including underwater video photography, was conducted of each area. Cleaning was accomplished using diver-controlled, multi-brush equipment included the electro-hydraulic powered Submersible Cleaning and Maintenance Platform (SCAMP), and several designs of hand-held machines. The brushes swept all zebra mussels off surfaces, restoring concrete and metal substrates to their original condition. Sensitive areas including pump housings, standpipes, sensor piping and chlorine injection tubing, were cleaned without degradation. Submersible vortex vacuum pumps were used to remove debris from the cavity. More than 46,000 ft{sup 2} of surface area was cleaned and over 460 cubic yards of dewatered debris were removed. As each area was completed, a post-clean inspection with photos and video was performed.« less
Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide
3D Laser Scanner for Underwater Manipulation.

PubMed

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.
Real-Time Modeling of Cross-Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

DTIC Science & Technology

1998-03-01

34Numerical Recipes in C," second edition, Cambridge University Press, Cambridge England, 1992. Marco, David , "Autonomous Control of Underwater...in the viewer. -202- LIST OF REFERENCES Ames, Andrea L., Nadeau, David R., Moreland, John L., VRML 2.0 Sourcebook, Second edition, John Wiley...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MJT/AAAI
Field Trials of the Nereus Hybrid Underwater Robotic Vehicle in the Challenger Deep of the Mariana Trench

DTIC Science & Technology

2010-06-01

autonomously. International Submarine Engineering Limited reported the successful de- ployment of an autonomous underwater vehicle designed to deploy fiber...formed by CoorsTek Inc., and titanium joint rings manufactured at WHOI that are bonded to the ceramic with a high-strength epoxy material. For additional
Robot Handcontroller

NASA Technical Reports Server (NTRS)

1992-01-01

The PER-Force robotic handcontroller provides a sense of touch or "feel" to an operator manipulating robots. The force simulation and wide range of motion greatly enhances the efficiency of robotic and computer operations. The handcontroller was developed for the Space Station by Cybernet Systems Corporation under a Small Business Innovation Research (SBIR) contract. Commercial applications include underwater use, underground excavations, research laboratories, hazardous waste handling and in manufacturing operations in which it is unsafe or impractical for humans to work.
Challenging Residual Contamination of Instruments for Robotic Surgery in Japan.

PubMed

Saito, Yuhei; Yasuhara, Hiroshi; Murakoshi, Satoshi; Komatsu, Takami; Fukatsu, Kazuhiko; Uetera, Yushi

2017-02-01

BACKGROUND Recently, robotic surgery has been introduced in many hospitals. The structure of robotic instruments is so complex that updating their cleaning methods is a challenge for healthcare professionals. However, there is limited information on the effectiveness of cleaning for instruments for robotic surgery. OBJECTIVE To determine the level of residual contamination of instruments for robotic surgery and to develop a method to evaluate the cleaning efficacy for complex surgical devices. METHODS Surgical instruments were collected immediately after operations and/or after in-house cleaning, and the level of residual protein was measured. Three serial measurements were performed on instruments after cleaning to determine the changes in the level of contamination and the total amount of residual protein. The study took place from September 1, 2013, through June 30, 2015, in Japan. RESULTS The amount of protein released from robotic instruments declined exponentially. The amount after in-house cleaning was 650, 550, and 530 µg/instrument in the 3 serial measurements. The overall level of residual protein in each measurement was much higher for robotic instruments than for ordinary instruments (P<.0001). CONCLUSIONS Our data demonstrated that complete removal of residual protein from surgical instruments is virtually impossible. The pattern of decline differed depending on the instrument type, which reflected the complex structure of the instruments. It might be necessary to establish a new standard for cleaning using a novel classification according to the structural complexity of instruments, especially for those for robotic surgery. Infect Control Hosp Epidemiol 2017;38:143-146.
Three main paradigms of simultaneous localization and mapping (SLAM) problem

NASA Astrophysics Data System (ADS)

Imani, Vandad; Haataja, Keijo; Toivanen, Pekka

2018-04-01

Simultaneous Localization and Mapping (SLAM) is one of the most challenging research areas within computer and machine vision for automated scene commentary and explanation. The SLAM technique has been a developing research area in the robotics context during recent years. By utilizing the SLAM method robot can estimate the different positions of the robot at the distinct points of time which can indicate the trajectory of robot as well as generate a map of the environment. SLAM has unique traits which are estimating the location of robot and building a map in the various types of environment. SLAM is effective in different types of environment such as indoor, outdoor district, Air, Underwater, Underground and Space. Several approaches have been investigated to use SLAM technique in distinct environments. The purpose of this paper is to provide an accurate perceptive review of case history of SLAM relied on laser/ultrasonic sensors and camera as perception input data. In addition, we mainly focus on three paradigms of SLAM problem with all its pros and cons. In the future, use intelligent methods and some new idea will be used on visual SLAM to estimate the motion intelligent underwater robot and building a feature map of marine environment.
A Modular Soft Robotic Wrist for Underwater Manipulation.

PubMed

Kurumaya, Shunichi; Phillips, Brennan T; Becker, Kaitlyn P; Rosen, Michelle H; Gruber, David F; Galloway, Kevin C; Suzumori, Koichi; Wood, Robert J

2018-04-19

This article presents the development of modular soft robotic wrist joint mechanisms for delicate and precise manipulation in the harsh deep-sea environment. The wrist consists of a rotary module and bending module, which can be combined with other actuators as part of a complete manipulator system. These mechanisms are part of a suite of soft robotic actuators being developed for deep-sea manipulation via submersibles and remotely operated vehicles, and are designed to be powered hydraulically with seawater. The wrist joint mechanisms can also be activated with pneumatic pressure for terrestrial-based applications, such as automated assembly and robotic locomotion. Here we report the development and characterization of a suite of rotary and bending modules by varying fiber number and silicone hardness. Performance of the complete soft robotic wrist is demonstrated in normal atmospheric conditions using both pneumatic and hydraulic pressures for actuation and under high ambient hydrostatic pressures equivalent to those found at least 2300 m deep in the ocean. This rugged modular wrist holds the potential to be utilized at full ocean depths (>10,000 m) and is a step forward in the development of jointed underwater soft robotic arms.
Inertial sensor self-calibration in a visually-aided navigation approach for a micro-AUV.

PubMed

Bonin-Font, Francisco; Massot-Campos, Miquel; Negre-Carrasco, Pep Lluis; Oliver-Codina, Gabriel; Beltran, Joan P

2015-01-16

This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time.
Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV

PubMed Central

Bonin-Font, Francisco; Massot-Campos, Miquel; Negre-Carrasco, Pep Lluis; Oliver-Codina, Gabriel; Beltran, Joan P.

2015-01-01

This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time. PMID:25602263
Design and Development of Mopping Robot-'HotBot'

NASA Astrophysics Data System (ADS)

Khan, M. R.; Huq, N. M. L.; Billah, M. M.; Ahmmad, S. M.

2013-12-01

To have a healthy, comfortable, and fresh civilized life we need to do some unhealthy households. Cleaning the dirty floor with a mop is one of the most disgusting and scary house hold jobs. Mopping robots are a solution of such problem. However, these robots are still on the way to be smart enough. Many points limit their efficiency, i.e. cleaning sticky dirt, having dry floor after cleaning, monitoring, cost etc. 'HotBot' is a mopping robot that can clean dirty floor with nice efficiency leaving no sticky dirt. Hot water can be used for heavy stains or normal water for usual situation and economy. It needs neither to be monitored during mopping nor to wipe the floor after it. 'HotBot' has sensors to detect obstacles and a control mechanism to avoid those. Moreover, it cleans sequentially and equipped with several accident-protection-systems. Moreover, it is also cost effective compared to the robots available so far.
Anthropomorphic Robot Hand And Teaching Glove

NASA Technical Reports Server (NTRS)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.
A self-cleaning underwater superoleophobic mesh for oil-water separation.

PubMed

Zhang, Lianbin; Zhong, Yujiang; Cha, Dongkyu; Wang, Peng

2013-01-01

Oil-water separation has recently become a global challenging task because of the frequent occurrence of oil spill accidents due to the offshore oil production and transportation, and there is an increasing demand for the development of effective and inexpensive approaches for the cleaning-up of the oily pollution in water system. In this study, a self-cleaning underwater superoleophobic mesh that can be used for oil-water separation is prepared by the layer-by-layer (LbL) assembly of sodium silicate and TiO2 nanoparticles on the stainless steel mesh. The integration of the self-cleaning property into the all-inorganic separation mesh by using TiO2 enables the convenient removal of the contaminants by ultraviolet (UV) illumination, and allows for the facile recovery of the separation ability of the contaminated mesh, making it promising for practial oil-water separation applications.
A self-cleaning underwater superoleophobic mesh for oil-water separation

PubMed Central

Zhang, Lianbin; Zhong, Yujiang; Cha, Dongkyu; Wang, Peng

2013-01-01

Oil–water separation has recently become a global challenging task because of the frequent occurrence of oil spill accidents due to the offshore oil production and transportation, and there is an increasing demand for the development of effective and inexpensive approaches for the cleaning-up of the oily pollution in water system. In this study, a self-cleaning underwater superoleophobic mesh that can be used for oil-water separation is prepared by the layer-by-layer (LbL) assembly of sodium silicate and TiO2 nanoparticles on the stainless steel mesh. The integration of the self-cleaning property into the all-inorganic separation mesh by using TiO2 enables the convenient removal of the contaminants by ultraviolet (UV) illumination, and allows for the facile recovery of the separation ability of the contaminated mesh, making it promising for practial oil-water separation applications. PMID:23900109
Clinical validation of robot simulation of toothbrushing - comparative plaque removal efficacy

PubMed Central

2014-01-01

Background Clinical validation of laboratory toothbrushing tests has important advantages. It was, therefore, the aim to demonstrate correlation of tooth cleaning efficiency of a new robot brushing simulation technique with clinical plaque removal. Methods Clinical programme: 27 subjects received dental cleaning prior to 3-day-plaque-regrowth-interval. Plaque was stained, photographically documented and scored using planimetrical index. Subjects brushed teeth 33–47 with three techniques (horizontal, rotating, vertical), each for 20s buccally and for 20s orally in 3 consecutive intervals. The force was calibrated, the brushing technique was video supported. Two different brushes were randomly assigned to the subject. Robot programme: Clinical brushing programmes were transfered to a 6-axis-robot. Artificial teeth 33–47 were covered with plaque-simulating substrate. All brushing techniques were repeated 7 times, results were scored according to clinical planimetry. All data underwent statistical analysis by t-test, U-test and multivariate analysis. Results The individual clinical cleaning patterns are well reproduced by the robot programmes. Differences in plaque removal are statistically significant for the two brushes, reproduced in clinical and robot data. Multivariate analysis confirms the higher cleaning efficiency for anterior teeth and for the buccal sites. Conclusions The robot tooth brushing simulation programme showed good correlation with clinically standardized tooth brushing. This new robot brushing simulation programme can be used for rapid, reproducible laboratory testing of tooth cleaning. PMID:24996973
Clinical validation of robot simulation of toothbrushing--comparative plaque removal efficacy.

PubMed

Lang, Tomas; Staufer, Sebastian; Jennes, Barbara; Gaengler, Peter

2014-07-04

Clinical validation of laboratory toothbrushing tests has important advantages. It was, therefore, the aim to demonstrate correlation of tooth cleaning efficiency of a new robot brushing simulation technique with clinical plaque removal. Clinical programme: 27 subjects received dental cleaning prior to 3-day-plaque-regrowth-interval. Plaque was stained, photographically documented and scored using planimetrical index. Subjects brushed teeth 33-47 with three techniques (horizontal, rotating, vertical), each for 20s buccally and for 20s orally in 3 consecutive intervals. The force was calibrated, the brushing technique was video supported. Two different brushes were randomly assigned to the subject. Robot programme: Clinical brushing programmes were transfered to a 6-axis-robot. Artificial teeth 33-47 were covered with plaque-simulating substrate. All brushing techniques were repeated 7 times, results were scored according to clinical planimetry. All data underwent statistical analysis by t-test, U-test and multivariate analysis. The individual clinical cleaning patterns are well reproduced by the robot programmes. Differences in plaque removal are statistically significant for the two brushes, reproduced in clinical and robot data. Multivariate analysis confirms the higher cleaning efficiency for anterior teeth and for the buccal sites. The robot tooth brushing simulation programme showed good correlation with clinically standardized tooth brushing.This new robot brushing simulation programme can be used for rapid, reproducible laboratory testing of tooth cleaning.
Design of underwater robot lines based on a hybrid automatic optimization strategy

NASA Astrophysics Data System (ADS)

Lyu, Wenjing; Luo, Weilin

2014-09-01

In this paper, a hybrid automatic optimization strategy is proposed for the design of underwater robot lines. Isight is introduced as an integration platform. The construction of this platform is based on the user programming and several commercial software including UG6.0, GAMBIT2.4.6 and FLUENT12.0. An intelligent parameter optimization method, the particle swarm optimization, is incorporated into the platform. To verify the strategy proposed, a simulation is conducted on the underwater robot model 5470, which originates from the DTRC SUBOFF project. With the automatic optimization platform, the minimal resistance is taken as the optimization goal; the wet surface area as the constraint condition; the length of the fore-body, maximum body radius and after-body's minimum radius as the design variables. With the CFD calculation, the RANS equations and the standard turbulence model are used for direct numerical simulation. By analyses of the simulation results, it is concluded that the platform is of high efficiency and feasibility. Through the platform, a variety of schemes for the design of the lines are generated and the optimal solution is achieved. The combination of the intelligent optimization algorithm and the numerical simulation ensures a global optimal solution and improves the efficiency of the searching solutions.

Right-Angle Mechanized Electrical Connector

NASA Technical Reports Server (NTRS)

Collins, Clint A.; Blackler, David T.

1996-01-01

Right-angle electrical connector embedded in mechanism accommodates some initial misalignment and aligns itself. Connection and disconnection effected with relatively small forces and torques and simple movements. Actuated by one gloved hand or by robotic manipulator. Useful in underwater, nuclear, hot, cold, or toxic environments in which connections made or broken by heavily clothed technicians or by robots.
AquaSimian Poster Artist Concept

NASA Image and Video Library

2015-03-11

This artist's rendering shows a concept for a robot called AquaSimian that would assist with hazardous situations underwater. The concept is derived from RoboSimian, a land-based robot designed and built at the Jet Propulsion Laboratory in Pasadena, California. RoboSimian is shown in PIA19313. http://photojournal.jpl.nasa.gov/catalog/PIA19315
Hybrid parameter identification of a multi-modal underwater soft robot.

PubMed

Giorgio-Serchi, F; Arienti, A; Corucci, F; Giorelli, M; Laschi, C

2017-02-28

We introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient.
Tribological properties of fish scale inspired underwater superoleophobic hierarchical structure in aqueous environment

NASA Astrophysics Data System (ADS)

Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong

2017-10-01

Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.
Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations. PMID:29642396
Collision Detection for Underwater ROV Manipulator Systems.

PubMed

Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

2018-04-06

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.
The effect of traveling wave shapes in the maneuver control and efficiency of an underwater robot propelled by an undulating fin

NASA Astrophysics Data System (ADS)

Liu, Hanlin; Curet, Oscar

2016-11-01

Effective control of propulsive undulating fins has the potential to enhance the maneuverability and efficiency of underwater vehicles allowing them to navigate in more complex environments. Aquatic animals using this type of propulsion are able to perform complex maneuvers by sending different traveling waves along one or multiple elongated fins. Recent work has investigated the propulsive forces, the hydrodynamics and the efficiency of an undulating ribbon fin. However, it is still not understood how different traveling wave shapes along the fin can be used to control the hydrodynamic forces and torques to perform different maneuvers. In this work, we study the effect of traveling wave shapes on the hydrodynamic forces and torques, swimming speed, maneuver control and propulsive performance of an underwater vehicle propelled by an undulating fin. The underwater robot propels by actuating a fin that is composed of sixteen independent rays interconnected with a flexible membrane. The hull contains all the electronics, batteries, motors and sensors. The underwater vehicle was tested in a water tank-flume facility. In a series of experiments, we measured the motion of the vessel and the power consumption for different traveling wave patterns. In addition, we measured the flow around the fin using Particle Image Velocimetry. We present the results concerning the power distribution along the fin, propulsive efficiency, free-swimming speed and pitch control based on different fin kinematics. National Science Foundation under Grant No. 1420774.
Soft Robotic Grippers for Biological Sampling on Deep Reefs.

PubMed

Galloway, Kevin C; Becker, Kaitlyn P; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Wood, Robert J; Gruber, David F

2016-03-01

This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.
Soft Robotic Grippers for Biological Sampling on Deep Reefs

PubMed Central

Galloway, Kevin C.; Becker, Kaitlyn P.; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Gruber, David F.

2016-01-01

Abstract This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna. PMID:27625917
Research on Modeling Technology of Virtual Robot Based on LabVIEW

NASA Astrophysics Data System (ADS)

Wang, Z.; Huo, J. L.; Y Sun, L.; Y Hao, X.

2017-12-01

Because of the dangerous working environment, the underwater operation robot for nuclear power station needs manual teleoperation. In the process of operation, it is necessary to guide the position and orientation of the robot in real time. In this paper, the geometric modeling of the virtual robot and the working environment is accomplished by using SolidWorks software, and the accurate modeling and assembly of the robot are realized. Using LabVIEW software to read the model, and established the manipulator forward kinematics and inverse kinematics model, and realized the hierarchical modeling of virtual robot and computer graphics modeling. Experimental results show that the method studied in this paper can be successfully applied to robot control system.
Robot Would Reconfigure Modular Equipment

NASA Technical Reports Server (NTRS)

Purves, Lloyd R.

1993-01-01

Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.
Underwater robot society doing internal inspection and leak monitoring of water systems

NASA Astrophysics Data System (ADS)

Halme, Aarne; Vainio, Mika; Appelqvist, Pekka; Jakubik, Peter; Schonberg, Torsten; Visala, Arto

1997-09-01

In the field of civil engineering an effective internal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Tests results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.
Apparatus for attaching a cleaning tool to a robotic manipulator

DOEpatents

Killian, M.A.; Zollinger, W.T.

1991-01-01

This invention is comprised of an apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.
Apparatus for attaching a cleaning tool to a robotic manipulator

DOEpatents

Killian, Mark A.; Zollinger, W. Thor

1992-01-01

An apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.
Apparatus for attaching a cleaning tool to a robotic manipulator

DOEpatents

Killian, M.A.; Zollinger, W.T.

1992-09-22

An apparatus is described for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the Kelly Vacuum System but can be modified for use with any standard mobile robot and cleaning tool. 14 figs.
Drive Control System for Pipeline Crawl Robot Based on CAN Bus

NASA Astrophysics Data System (ADS)

Chen, H. J.; Gao, B. T.; Zhang, X. H.; Deng2, Z. Q.

2006-10-01

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.
Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

PubMed Central

Campos, Ricard; Gracias, Nuno; Ridao, Pere

2016-01-01

Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project. PMID:26999144
Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

PubMed

Raj, Aditi; Thakur, Atul

2016-04-13

Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.
Research on key technology of prognostic and health management for autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Zhou, Zhi

2017-12-01

Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.
Survivability design for a hybrid underwater vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Biao; Wu, Chao; Li, Xiang

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports themore » survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.« less

Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot

PubMed Central

Ko, Nak Yong; Jeong, Seokki; Bae, Youngchul

2016-01-01

This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnetic-field measurements are transformed into sine rotation vectors and combined. The combined sine rotation vector is then transformed into the differences between the Euler angles of the measured attitude and the predicted attitude; the differences are used to correct the predicted attitude. The method was evaluated according to field-test data and simulation data and compared to existing methods that calculate angular differences directly without a preceding sine rotation vector transformation. The comparison verifies that the proposed method improves the attitude estimation performance. PMID:27490549
Progressively Communicating Rich Telemetry from Autonomous Underwater Vehicles via Relays

DTIC Science & Technology

2012-06-01

wireless sensor networks using an autonomous underwater vehicle. In Robotics and...communication over multiple kilometers. In addition to wireless com- munication methods , the recently developed Nereus[12] vehicle at WHOI spools out...A P T U R E M e ss a g e s P ro ce ss / T h re a d M a n a g e m e n t C o n fi g u ra ti o n P a rs in g Network Manager Frame Scheduling
Adapting sensory data for multiple robots performing spill cleanup

DOE Office of Scientific and Technical Information (OSTI.GOV)

Storjohann, K.; Saltzen, E.

1990-09-01

This paper describes a possible method of converting a single performing robot algorithm into a multiple performing robot algorithm without the need to modify previously written codes. The algorithm to be converted involves spill detection and clean up by the HERMIES-III mobile robot. In order to achieve the goal of multiple performing robots with this algorithm, two steps are taken. First, the task is formally divided into two sub-tasks, spill detection and spill clean-up, the former of which is allocated to the added performing robot, HERMIES-IIB. Second, a inverse perspective mapping, is applied to the data acquired by the newmore » performing robot (HERMIES-IIB), allowing the data to be processed by the previously written algorithm without re-writing the code. 6 refs., 4 figs.« less
Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

NASA Astrophysics Data System (ADS)

Phamduy, Paul

The application of robotic fish in the fields of animal behavior and informal science learning are new and relatively untapped. In the context of animal behavior studies, robotic fish offers a consistent and customizable stimulus that could contribute to dissect the determinants of social behavior. In the realm of informal science learning, robotic fish are gaining momentum for the possibility of educating the general public simultaneously on fish physiology and underwater robotics. In this dissertation, the design and development of a number of robotic fish platforms and prototypes and their application in animal behavioral studies and informal science learning settings are presented. Robotic platforms for animal behavioral studies focused on the utilization replica or same scale prototypes. A novel robotic fish platform, featuring a three-dimensional swimming multi-linked robotic fish, was developed with three control modes varying in the level of robot autonomy offered. This platform was deployed at numerous science festivals and science centers, to obtain data on visitor engagement and experience.
Surf-zone Underwater Robotic Demonstration Platform

DTIC Science & Technology

2014-01-01

dynamically advantageous shape for a robotic system. To address locomotive factors ARA completed a research and technical study based on an Archimedes ...effective hull shape. To study mobility and traction a propulsion system based on an Archimedes screw drive was used. A drive design based on an... Archimedes screw was chosen because of its ability to operate in various mediums with varying flow rates. A test bed was designed and assembled in order to
Optimal Sensor Layouts in Underwater Locomotory Systems

NASA Astrophysics Data System (ADS)

Colvert, Brendan; Kanso, Eva

2015-11-01

Retrieving and understanding global flow characteristics from local sensory measurements is a challenging but extremely relevant problem in fields such as defense, robotics, and biomimetics. It is an inverse problem in that the goal is to translate local information into global flow properties. In this talk we present techniques for optimization of sensory layouts within the context of an idealized underwater locomotory system. Using techniques from fluid mechanics and control theory, we show that, under certain conditions, local measurements can inform the submerged body about its orientation relative to the ambient flow, and allow it to recognize local properties of shear flows. We conclude by commenting on the relevance of these findings to underwater navigation in engineered systems and live organisms.
Research and development of electric vehicles for clean transportation.

PubMed

Wada, Masayoshi

2009-01-01

This article presents the research and development of an electric vehicle (EV) in Department of Human-Robotics Saitama Institute of Technology, Japan. Electric mobile systems developed in our laboratory include a converted electric automobile, electric wheelchair and personal mobile robot. These mobile systems contribute to realize clean transportation since energy sources and devices from all vehicles, i.e., batteries and electric motors, does not deteriorate the environment. To drive motors for vehicle traveling, robotic technologies were applied.
2011 Take Our Children to Work Day

NASA Image and Video Library

2011-07-26

Some 230 children of Stennis Space Center employees visited the facility July 26 to participate in annual Take Our Children to Work Day activities. Participants enjoyed various presentations and demonstrations on topics such as cryogenics, underwater robotics and geocaching.
Research on robotics by principal investigators of the Robotics Technology Development Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrigan, R.W.

The U.S. Department of Energy`s Office of Technology Development has been developing robotics and automation technologies for the clean-up and handling of hazardous and radioactive waste through one of its major elements, Cross Cutting and Advanced Technology development. CC&AT university research and development programs recognize the strong technology, base resident in the university community and sponsor a focused technology research and development program which stresses close interaction between the university sector and the DOE community. This report contains a compilation of research articles by each of 14 principle investigators supported by CC&AT to develop robotics and automation technologies for themore » clean-up and handling of hazardous and radioactive waste. This research has led to innovative solutions for waste clean-up problems, and it has moved technology out of university laboratories into functioning systems which has allowed early evaluation by site technologists.« less
Sea Perch Project

NASA Image and Video Library

2010-12-11

David Lalejini, an employee of the Naval Research Laboratory at NASA's John C. Stennis Space Center, helps a pair of teachers deploy a remotely-operated underwater Sea Perch robot during workshop activities Dec. 11. The Stennis Education Office teamed with Naval Research Laboratory counterparts to conduct a two-day workshop Dec. 10-11 for Louisiana and Mississippi teachers. During the no-cost workshop, teachers learned to build and operate Sea Perch robots. The teachers now can take the Sea Perch Program back to students.
Sea Perch Project

NASA Technical Reports Server (NTRS)

2010-01-01

David Lalejini, an employee of the Naval Research Laboratory at NASA's John C. Stennis Space Center, helps a pair of teachers deploy a remotely-operated underwater Sea Perch robot during workshop activities Dec. 11. The Stennis Education Office teamed with Naval Research Laboratory counterparts to conduct a two-day workshop Dec. 10-11 for Louisiana and Mississippi teachers. During the no-cost workshop, teachers learned to build and operate Sea Perch robots. The teachers now can take the Sea Perch Program back to students.
Robust and underwater superoleophobic coating with excellent corrosion and biofouling resistance in harsh environments

NASA Astrophysics Data System (ADS)

Su, Mingji; Liu, Yong; Zhang, Yuhong; Wang, Zhiguo; Li, Yulin; He, Peixin

2018-04-01

Underwater superoleophobic surfaces are based on the surface with micro-/nanoscale roughness and hydration layer. But the self-cleaning surfaces are usually mechanically weak and will lose their underwater superoleophobicity when the surfaces are corroded or damaged. In this paper, to overcome these problems, the robust underwater superoleophobic coating (HN/ER-coating) has been fabricated successfully through MPS (methacryloxy propyl trimethoxyl silane)-SiO2/PNIPAM (N-isopropylacryamide) hybrid nanoparticles and epoxy resin (ER) via a simple solution-casting method. The SiO2/PNIPAM hybrid nanoparticles can enhance multiscale roughness and excellent abrasion-resistant property, and the epoxy resin can be used as an interlayer between hybrid nanoparticles and substrates to promote the robustness and corrosion resistance of the coating. The obtained coatings have excellent underwater superoleophobicity, and exhibit highly stability in harsh environments (including acid-base, strong ionic strength, mechanical abrasion). Moreover, this coating can provide protective effect on the substrate in corrosive solution, and may also resist bacterial attachment and subsequent biofilm formation because of the presence of high density PNIPAM polymers. Herein, the developed underwater superoleophobic coating can be applied as an effective platform for the applications in underwater instruments, underwater oil transport, marine oil platform and ships.
Fallout from the Shuttle Arm

NASA Technical Reports Server (NTRS)

1990-01-01

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.
Case study of a floor-cleaning robot

NASA Astrophysics Data System (ADS)

Branch, Allan C.

1998-01-01

Developing the technologies suitable of ra high level robotic application such as cleaning a floor has proved extremely difficult. Developing the robot mobility technology has been a stumbling block and developing and integrating the applications technology to the machine and the mobility technology has also been a difficult stage in this quest, but doing so in a cost effective and realistic manner suitable for the market place and to compete with humans and manually operated machines has been the most difficult of all. This paper describes one of these quests spanning a 14 year period and resulting in what is hoped will be the world's first commercially manufactured household robot vacuum cleaner.
Design of a Vision-Based Sensor for Autonomous Pig House Cleaning

NASA Astrophysics Data System (ADS)

Braithwaite, Ian; Blanke, Mogens; Zhang, Guo-Qiang; Carstensen, Jens Michael

2005-12-01

Current pig house cleaning procedures are hazardous to the health of farm workers, and yet necessary if the spread of disease between batches of animals is to be satisfactorily controlled. Autonomous cleaning using robot technology offers salient benefits. This paper addresses the feasibility of designing a vision-based system to locate dirty areas and subsequently direct a cleaning robot to remove dirt. Novel results include the characterisation of the spectral properties of real surfaces and dirt in a pig house and the design of illumination to obtain discrimination of clean from dirty areas with a low probability of misclassification. A Bayesian discriminator is shown to be efficient in this context and implementation of a prototype tool demonstrates the feasibility of designing a low-cost vision-based sensor for autonomous cleaning.
A Strategy to employ coordinated, autonomous Platforms for addressing long-term biochemical observing Tasks

NASA Astrophysics Data System (ADS)

Waldmann, H. C.; Montenegro, S.

2016-02-01

Autonomous platforms get a growing importance for ocean observing tasks in particular to enable long-term observing tasks. Employing the mobility of those platforms allows a targeted investigations of phenomena that up to now are mainly seen from satellite but are lacking detailed scrutiny. As part oft he national funded project ROBEX new operation concepts for mobile platforms are developed in particular a new type of underwater glider with larger payload capacity compared to legacy systems will be developed. First tests in the pool of a aparticular hull shape have led to a better understanding oft he hydrodynamic condition and an optomized hull design was derived from that. The WAVEGLIDER system of Liquid Robotics lends itsself to be used as a communication hub and a platform to track underwater vehicles. Therefore the combination of those systems are currently assessed in regard to a possible operation and its hard- and software implementation. A major issue ist o achieve a coordinated displacement of these completely decoupled systems. Issues on how to mitigate faulty mission runs, coping with low communication bandwidths, and ensuring adequate positioning information about the underwater glider have to be addressed. Robotic concepts known from terrestrial applications like for UAV systems are tested under the more stringent environmental conditions in ocean waters. With this combination of WAVEGLIDER and underwater glider it is planned to carry out long-term missions to investigate biochemical processes in the water column in particular to investigate the particle transport through the water column and the processes resulting from that. Concepts and first results of those tasks will be presented.
Bio-Inspired Self-Cleaning Surfaces

NASA Astrophysics Data System (ADS)

Liu, Kesong; Jiang, Lei

2012-08-01

Self-cleaning surfaces have drawn a lot of interest for both fundamental research and practical applications. This review focuses on the recent progress in mechanism, preparation, and application of self-cleaning surfaces. To date, self-cleaning has been demonstrated by the following four conceptual approaches: (a) TiO2-based superhydrophilic self-cleaning, (b) lotus effect self-cleaning (superhydrophobicity with a small sliding angle), (c) gecko setae-inspired self-cleaning, and (d) underwater organisms-inspired antifouling self-cleaning. Although a number of self-cleaning products have been commercialized, the remaining challenges and future outlook of self-cleaning surfaces are also briefly addressed. Through evolution, nature, which has long been a source of inspiration for scientists and engineers, has arrived at what is optimal. We hope this review will stimulate interdisciplinary collaboration among material science, chemistry, biology, physics, nanoscience, engineering, etc., which is essential for the rational design and reproducible construction of bio-inspired multifunctional self-cleaning surfaces in practical applications.
Miniature Robotic Submarine for Exploring Harsh Environments

NASA Technical Reports Server (NTRS)

Behar, Alberto; Bruhn, Fredrik; Carsey, Frank

2004-01-01

The miniature autonomous submersible explorer (MASE) has been proposed as a means of scientific exploration -- especially, looking for signs of life -- in harsh, relatively inaccessible underwater environments. Basically, the MASE would be a small instrumented robotic submarine (see figure) that could launch itself or could be launched from another vehicle. Examples of environments that might be explored by use of the MASE include subglacial lakes, deep-ocean hydrothermal vents, acidic or alkaline lakes, brine lenses in permafrost, and ocean regions under Antarctic ice shelves.
Three-dimensional flow about penguin wings

NASA Astrophysics Data System (ADS)

Noca, Flavio; Sudki, Bassem; Lauria, Michel

2012-11-01

Penguins, contrary to airborne birds, do not need to compensate for gravity. Yet, the kinematics of their wings is highly three-dimensional and seems exceedingly complex for plain swimming. Is such kinematics the result of an evolutionary optimization or is it just a forced adaptation of an airborne flying apparatus to underwater swimming? Some answers will be provided based on flow dynamics around robotic penguin wings. Updates will also be presented on the development of a novel robotic arm intended to simulate penguin swimming and enable novel propulsion devices.
Validation of Underwater Sensor Package Using Feature Based SLAM

PubMed Central

Cain, Christopher; Leonessa, Alexander

2016-01-01

Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

Measurements of optical underwater turbulence under controlled conditions

NASA Astrophysics Data System (ADS)

Kanaev, A. V.; Gladysz, S.; Almeida de Sá Barros, R.; Matt, S.; Nootz, G. A.; Josset, D. B.; Hou, W.

2016-05-01

Laser beam propagation underwater is becoming an important research topic because of high demand for its potential applications. Namely, ability to image underwater at long distances is highly desired for scientific and military purposes, including submarine awareness, diver visibility, and mine detection. Optical communication in the ocean can provide covert data transmission with much higher rates than that available with acoustic techniques, and it is now desired for certain military and scientific applications that involve sending large quantities of data. Unfortunately underwater environment presents serious challenges for propagation of laser beams. Even in clean ocean water, the extinction due to absorption and scattering theoretically limit the useful range to few attenuation lengths. However, extending the laser light propagation range to the theoretical limit leads to significant beam distortions due to optical underwater turbulence. Experiments show that the magnitude of the distortions that are caused by water temperature and salinity fluctuations can significantly exceed the magnitude of the beam distortions due to atmospheric turbulence even for relatively short propagation distances. We are presenting direct measurements of optical underwater turbulence in controlled conditions of laboratory water tank using two separate techniques involving wavefront sensor and LED array. These independent approaches will enable development of underwater turbulence power spectrum model based directly on the spatial domain measurements and will lead to accurate predictions of underwater beam propagation.
KSC-03pd1387

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A team aboard the Liberty Star secures lines to underwater research equipment being used on an expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
Food-Growing, Air- And Water-Cleaning Module

NASA Technical Reports Server (NTRS)

Sauer, R. L.; Scheld, H. W.; Mafnuson, J. W.

1988-01-01

Apparatus produces fresh vegetables and removes pollutants from air. Hydroponic apparatus performs dual function of growing fresh vegetables and purifying air and water. Leafy vegetables rooted in granular growth medium grow in light of fluorescent lamps. Air flowing over leaves supplies carbon dioxide and receives fresh oxygen from them. Adaptable to production of food and cleaning of air and water in closed environments as in underwater research stations and submarines.
Integrated Seawater Sampler and Data Acquisition System Prototype

DTIC Science & Technology

1993-04-01

circuitry. The sample bags, initially sealed in a chemically clean environment , were opened by pumping the water out of the tray, thus forcing water into...the water sample containers from materials having low metals content. Control of the sample transfer environment through the use of Class-100 clean... environment . CTD designers also intended their underwater units and deck terminals to be connected directly together providing AC grounding appropriate to
Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application

NASA Astrophysics Data System (ADS)

Panda, S. K.; Bandopadhya, D.

2018-02-01

Electro-active polymer (EAP) such as Polypyrrole has gained much attention in the category of functional materials for fabrication of both active actuator and sensor. Particularly, PPy actuator has shown potential in fluid medium application because of high strain, large bending displacement and work density. This paper focuses on developing a low cost active actuator promising in delivering high performance in underwater environment. The proposed Au-pyrrole actuator is synthesized by adopting the layer-by-layer electrochemical polymerization technique and is fabricated as strip actuator from aqueous solution of Pyrrole and NaDBS in room temperature. In the follow-up, topographical analysis has been carried out using SEM and FESEM instruments showing surface morphology and surface integrity of chemical components of the structure. Several experiments have been conducted under DC input voltage evaluating performance effectiveness such as underwater bending displacement and tip force etc. This is observed that the actuator exhibits quite similar stress profile as of natural muscle, endowed with high modulus makes them effective in working nearly 10,000 cycles underwater environment. In addition, the bending displacement up to 5.4 mm with a low input voltage 1.3 V makes the actuator suitable for underwater micro-robotics applications.
Artificial Muscle (AM) Cilia Array for Underwater Systems

DTIC Science & Technology

2016-12-15

Polymer Metal-Composites for Soft Robotic Applications, 3D printing Workshop, Las Vegas, Nevada, April15, 2016 2. J. D. Carrico, J. Erickson , K. K. Leang...student, UU 10. John Erickson , undergraduate student, UU 11. Marissa Tsugawa, MS student, UNR Page I 20 Cillia ONR Final Report
Octopus-inspired multi-arm robotic swimming.

PubMed

Sfakiotakis, M; Kazakidi, A; Tsakiris, D P

2015-05-13

The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its little-studied arm-swimming behavior, as opposed to the better known jetting via the siphon, the animal appears to generate considerable propulsive thrust and rapid acceleration, predominantly employing movements of its arms. In this work, we capture the fundamental characteristics of the corresponding complex pattern of arm motion by a sculling profile, involving a fast power stroke and a slow recovery stroke. We investigate the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backward, propulsion and turning. A lumped-element model of the robotic swimmer, which considers arm compliance and the interaction with the aquatic environment, was used to study the characteristics of these gaits, the effect of various kinematic parameters on propulsion, and the generation of complex trajectories. This investigation focuses on relatively high-stiffness arms. Experiments employing a compliant-body robotic prototype swimmer with eight compliant arms, all made of polyurethane, inside a water tank, successfully demonstrated this novel mode of underwater propulsion. Speeds of up to 0.26 body lengths per second (approximately 100 mm s(-1)), and propulsive forces of up to 3.5 N were achieved, with a non-dimensional cost of transport of 1.42 with all eight arms and of 0.9 with only two active arms. The experiments confirmed the computational results and verified the multi-arm maneuverability and simultaneous object grasping capability of such systems.
Robotic platform for traveling on vertical piping network

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nance, Thomas A; Vrettos, Nick J; Krementz, Daniel

This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.
Results Of Automating A Photolithography Cell In A Clean Tunnel

NASA Astrophysics Data System (ADS)

June, David H.

1987-01-01

A prototype automated photobay was installed in an existing fab area utilizing flexible material handling techniques within a clean tunnel. The project objective was to prove design concepts of automated cassette-to-cassette handling within a clean tunnel that isolated operators from the wafers being processed. Material handling was by monorail track transport system to feed cassettes to pick and place robots. The robots loaded and unloaded cassettes of wafers to each of the various pieces of process equipment. The material handling algorithms, recipe downloading and statistical process control functions were all performed by custom software on the photobay cell controller.
Optimum storage and germination conditions for seeds of pickerelweed (Pontetieria cordata L.) from Florida

Treesearch

Lyn A. Gettys; R. Kasten Dumroese

2009-01-01

Clean seeds of pickerelweed (Pontederia cordata L. [Pontederiaceae]) germinated best (84 to 94%) under water, even after being stored dry up to 6 mo at about 25 Â°C (77 Â°F), but germination of clean seeds under water was reduced to 43% when seeds were stored at 4 Â°C (39 3 F) for 6 mo. Underwater germination of seeds enclosed in fruits was less...
Launching the AquaMAV: bioinspired design for aerial-aquatic robotic platforms.

PubMed

Siddall, R; Kovač, M

2014-09-01

Current Micro Aerial Vehicles (MAVs) are greatly limited by being able to operate in air only. Designing multimodal MAVs that can fly effectively, dive into the water and retake flight would enable applications of distributed water quality monitoring, search and rescue operations and underwater exploration. While some can land on water, no technologies are available that allow them to both dive and fly, due to dramatic design trade-offs that have to be solved for movement in both air and water and due to the absence of high-power propulsion systems that would allow a transition from underwater to air. In nature, several animals have evolved design solutions that enable them to successfully transition between water and air, and move in both media. Examples include flying fish, flying squid, diving birds and diving insects. In this paper, we review the biological literature on these multimodal animals and abstract their underlying design principles in the perspective of building a robotic equivalent, the Aquatic Micro Air Vehicle (AquaMAV). Building on the inspire-abstract-implement bioinspired design paradigm, we identify key adaptations from nature and designs from robotics. Based on this evaluation we propose key design principles for the design of successful aerial-aquatic robots, i.e. using a plunge diving strategy for water entry, folding wings for diving efficiency, water jet propulsion for water takeoff and hydrophobic surfaces for water shedding and dry flight. Further, we demonstrate the feasibility of the water jet propulsion by building a proof-of-concept water jet propulsion mechanism with a mass of 2.6 g that can propel itself up to 4.8 m high, corresponding to 72 times its size. This propulsion mechanism can be used for AquaMAV but also for other robotic applications where high-power density is of use, such as for jumping and swimming robots.
KSC-03pd1381

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater equipment sits on the deck of the Liberty Star, which will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. A team of scientists will deploy an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1382

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater equipment is checked on the deck of the Liberty Star, which will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. A team of scientists will deploy an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1386

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater research equipment slowly sinks into the water. An undersea expedition is underway to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.
Design and Experimental Validation of a USBL Underwater Acoustic Positioning System.

PubMed

Reis, Joel; Morgado, Marco; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos

2016-09-14

This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.
Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

PubMed Central

Reis, Joel; Morgado, Marco; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos

2016-01-01

This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance. PMID:27649181
Space Robotics: AWIMR an Overview

NASA Technical Reports Server (NTRS)

Wagner, Rick

2006-01-01

This viewgraph presentation reviews the usages of Autonomous Walking Inspection and Maintenance Robots (AWIMR) in space. Some of the uses that these robots in support of space exploration can have are: inspection of a space craft, cleaning, astronaut assistance, assembly of a structure, repair of structures, and replenishment of supplies.
Underwater olfaction for real-time detection of submerged unexploded ordnance

NASA Astrophysics Data System (ADS)

Harper, Ross J.; Dock, Matthew L.

2007-04-01

The presence of Underwater Unexploded Ordnance (UUXO) represents a considerable threat in the marine environment. Elevated concentrations of dissolved explosive compounds, such as TNT and RDX, may be produced in the vicinity of degraded UUXO shell casings and are known to have significant toxicant effects on local marine organisms. During World War II and in subsequent years, the US military inadvertently or, in some cases intentionally, deposited many thousands of tons of UUXO in US coastal waters. Much of this material is difficult to locate by magnetometry or sonar imaging techniques, and can be extremely challenging to identify by visual means after lying on the bottom of the ocean for several decades. The present work is focused on advances in underwater olfaction, wherein trace amounts of dissolved explosive compounds may be detected and discriminated from other chemical species found in the marine environment, for the purpose of establishing safe cordons and/or neutralization of the explosives. ICx Nomadics has developed the first known real-time sensor system that is capable of detecting chemical signatures emanating from underwater explosives. The SeaPup sensor, which is based on the fluorescence-quenching transduction mechanism of an amplifying fluorescent polymer (AFP), is capable of real-time detection of the trace chemical signatures emanating from submerged explosive compounds. The SeaPup system has been successfully tested on various marine platforms, including a crawler robot, an autonomous underwater vehicle (AUV), and a remotely operated underwater vehicle (ROV). In one study, the SeaPup was shown to effectively map liquid phase "explosive scent plumes" emanating from an underwater source of TNT. The presented paper will provide an overview of the history, current status, and future development of explosive analyte detection in the underwater environment.
An OFDM Receiver with Frequency Domain Diversity Combined Impulsive Noise Canceller for Underwater Network.

PubMed

Saotome, Rie; Hai, Tran Minh; Matsuda, Yasuto; Suzuki, Taisaku; Wada, Tomohisa

2015-01-01

In order to explore marine natural resources using remote robotic sensor or to enable rapid information exchange between ROV (remotely operated vehicles), AUV (autonomous underwater vehicle), divers, and ships, ultrasonic underwater communication systems are used. However, if the communication system is applied to rich living creature marine environment such as shallow sea, it suffers from generated Impulsive Noise so-called Shrimp Noise, which is randomly generated in time domain and seriously degrades communication performance in underwater acoustic network. With the purpose of supporting high performance underwater communication, a robust digital communication method for Impulsive Noise environments is necessary. In this paper, we propose OFDM ultrasonic communication system with diversity receiver. The main feature of the receiver is a newly proposed Frequency Domain Diversity Combined Impulsive Noise Canceller. The OFDM receiver utilizes 20-28 KHz ultrasonic channel and subcarrier spacing of 46.875 Hz (MODE3) and 93.750 Hz (MODE2) OFDM modulations. In addition, the paper shows Impulsive Noise distribution data measured at a fishing port in Okinawa and at a barge in Shizuoka prefectures and then proposed diversity OFDM transceivers architecture and experimental results are described. By the proposed Impulsive Noise Canceller, frame bit error rate has been decreased by 20-30%.
A Review of Artificial Lateral Line in Sensor Fabrication and Bionic Applications for Robot Fish.

PubMed

Liu, Guijie; Wang, Anyi; Wang, Xinbao; Liu, Peng

2016-01-01

Lateral line is a system of sense organs that can aid fishes to maneuver in a dark environment. Artificial lateral line (ALL) imitates the structure of lateral line in fishes and provides invaluable means for underwater-sensing technology and robot fish control. This paper reviews ALL, including sensor fabrication and applications to robot fish. The biophysics of lateral line are first introduced to enhance the understanding of lateral line structure and function. The design and fabrication of an ALL sensor on the basis of various sensing principles are then presented. ALL systems are collections of sensors that include carrier and control circuit. Their structure and hydrodynamic detection are reviewed. Finally, further research trends and existing problems of ALL are discussed.

Influences on Visual Spatial Rotation: Science, Technology, Engineering, and Mathematics (STEM) Experiences, Age, and Gender

ERIC Educational Resources Information Center

Perry, Paula Christine

2013-01-01

Science, Technology, Engineering, and Mathematics (STEM) education curriculum is designed to strengthen students' science and math achievement through project based learning activities. As part of a STEM initiative, SeaPerch was developed at Massachusetts Institute of Technology. SeaPerch is an innovative underwater robotics program that instructs…
Physiological and Behavioral Responses of Dairy Cattle to the Introduction of Robot Scrapers.

PubMed

Doerfler, Renate L; Lehermeier, Christina; Kliem, Heike; Möstl, Erich; Bernhardt, Heinz

2016-01-01

Autonomous mobile robot scrapers are increasingly used in order to clean the floors on dairy farms. Given the complexity of robot scraper operation, stress may occur in cows due to unpredictability of the situation. Experiencing stress can impair animal welfare and, in the long term, the health and milk production of the cows. Therefore, this study addressed potential stress responses of dairy cattle to the robot scraper after introducing the autonomous mobile machine. Thirty-six cows in total were studied on three different farms to explore possible modifications in cardiac function, behavior, and adrenocortical activity. The research protocol on each farm consisted of four experimental periods including one baseline measurement without robot scraper operation followed by three test measurements, in which cows interacted with the robotic cleaning system. Interbeat intervals were recorded in order to calculate the heart rate variability (HRV) parameter RMSSD; behavior was observed to determine time budgets; and fecal samples were collected for analysis of the cortisol metabolites concentration. A statistical analysis was carried out using linear mixed-effects models. HRV decline immediately after the introduction of the robot scraper and modified behavior in the subsequent experimental periods indicated a stress response. The cortisol metabolites concentration remained constant. It is hypothesized that after the initial phase of decrease, HRV stabilized through the behavioral adjustments of the cows in the second part of the study. Persistent alterations in behavior gave rise to the assumption that the animals' habituation process to the robot scraper was not yet completed. In summary, the present study illustrated that the cows showed minor signs of disturbance toward the robotic cleaning system. Thus, our findings suggest that dairy cattle can largely adjust their behavior to avoid aversive effects on animal welfare. Additional research can provide further insight into the development of the animal-machine interaction beyond the initial phase of robot scraper operation considered in this study.
Terrain interaction with the quarter scale beam walker

NASA Technical Reports Server (NTRS)

Chun, Wendell H.; Price, S.; Spiessbach, A.

1990-01-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.
Terrain Interaction With The Quarter Scale Beam Walker

NASA Astrophysics Data System (ADS)

Chun, Wendell H.; Price, R. S.; Spiessbach, Andrew J.

1990-03-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.
Controllability of Complex Dynamic Objects

NASA Astrophysics Data System (ADS)

Kalach, G. G.; Kazachek, N. A.; Morozov, A. A.

2017-01-01

Quality requirements for mobile robots intended for both specialized and everyday use are increasing in step with the complexity of the technological tasks assigned to the robots. Whether a mobile robot is for ground, aerial, or underwater use, the relevant quality characteristics can be summarized under the common concept of agility. This term denotes the object’s (the robot)’s ability to react quickly to control actions (change speed and direction), turn in a limited area, etc. When using this approach in integrated assessment of the quality characteristics of an object with the control system, it seems more constructive to use the term “degree of control”. This paper assesses the degree of control by an example of a mobile robot with the variable-geometry drive wheel axle. We show changes in the degree of control depending on the robot’s configuration, and results illustrated by calculation data, computer and practical experiments. We describe the prospects of using intelligent technology for efficient control of objects with a high degree of controllability.
System for fuel rod removal from a reactor module

DOEpatents

Matchett, R.L.; Fodor, G.; Kikta, T.J.; Bacvinsicas, W.S.; Roof, D.R.; Nilsen, R.J.; Wilczynski, R.

1988-07-28

A robotic system for remote underwater withdrawal of the fuel rods from fuel modules of a light water breeder reactor includes a collet/grapple assembly for gripping and removing fuel rods in each module, which is positioned by use of a winch and a radial support means attached to a vertical support tube which is mounted over the fuel module. A programmable logic controller in conjunction with a microcomputer, provides control for the accurate positioning and pulling force of the rod grapple assembly. Closed circuit television cameras are provided which aid in operator interface with the robotic system. 7 figs.
System for fuel rod removal from a reactor module

DOEpatents

Matchett, Richard L.; Roof, David R.; Kikta, Thomas J.; Wilczynski, Rosemarie; Nilsen, Roy J.; Bacvinskas, William S.; Fodor, George

1990-01-01

A robotic system for remote underwater withdrawal of the fuel rods from fuel modules of a light water breeder reactor includes a collet/grapple assembly for gripping and removing fuel rods in each module, which is positioned by use of a winch and a radial support means attached to a vertical support tube which is mounted over the fuel module. A programmable logic controller in conjunction with a microcomputer, provides control for the accurate positioning and pulling force of the rod grapple assembly. Closed circuit television cameras are provided which aid in operator interface with the robotic system.
KSC-03pd1385

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A team onboard the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance, get ready to lower underwater research equipment into the water. An undersea expedition is underway to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1384

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater research equipment is prepared for immersion from the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance. It is being used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1388

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A view from inside the pilot house of the Liberty Star overlooks the stern where a team secures lines to underwater research equipment being used on an expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. The banks are a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
Sozzy: a hormone-driven autonomous vacuum cleaner

NASA Astrophysics Data System (ADS)

Yamamoto, Masaki

1994-02-01

Domestic robots are promising examples of the application of robotics to personal life. There have been many approaches in this field, but no successful results exist. The problem is that domestic environments are more difficult for robots than other environments, such as factory floors or office floors. Consequently, conventional approaches using a model of human intelligence to design robots have not been successful. In this paper, we report on a prototyped domestic vacuum-cleaning robot that is designed to be able to handle complex environments. The control software is composed of two layers, both of which are generally inspired by behaviors of living creatures. The first layer corresponds to a dynamically reconfigurable system of behaviors implemented in the subsumption architecture. The ability of the robot to support alternate configurations of its behaviors provides the robot with increased robustness. We have conveniently labeled particular configurations as specific `emotions' according to the interpretation of observers of the robot's behavior. The second layer simulates the hormone system. The hormone system is modeled using state variables, increased or decreased by stimuli from the environment. The hormone condition selects the robot's most suitable emotion, according to the changing environments. The robot hardware is built of off-the-shelf parts, such as an embedded CPU, inexpensive home-appliance sensors, and small motors. These parts keep the total building cost to a minimum. The robot also has a vacuum cleaning function to demonstrate its capability to perform useful tasks. We tested the robot in our laboratory, and successfully videotaped its robust behaviors. We also confirmed the hormone system to enhance the robot's plasticity and lifelike quality.
The Complex Challenges of Remotely Removing Redundant Pipework and Cleaning/Remediation of Aging Civil Structures at Sellafield - 12446

DOE Office of Scientific and Technical Information (OSTI.GOV)

Farran, Paul

This paper identifies how a joint Sellafield Ltd/Nuclear Management Partners Tactical Review Team and main contractor, SA Robotics, developed and successfully deployed a solution to clean and coat the wall surface of an aging structure on the Sellafield Site. This involved removal of redundant pipework from the wall, cleaning and coating of the surface using a bespoke designed robotic manipulator with various end effectors. This system was able to safely and in a controlled manner remove the pipework, clean down the wall and prime and coat it within the required programme duration which was 5 months earlier than a previousmore » shielding only option. This was done in a high radiation field and in the challenging conditions of winter in Northern England. (authors)« less
Water on the Web: Integrating Real-Time Data into Educational Curricula over the Internet. Guide Book.

ERIC Educational Resources Information Center

Minnesota Univ., Duluth. Minnesota Sea Grant Program.

Water on the Web (WOW) curriculum materials help students understand data taken from several water sampling robots called Remote Underwater Sampling Station (RUSS) units located in Ice Lake, Lake Independence, Lake Minnetonka, and Grindstone Lake in Minnesota. WOW allows high school and college students to monitor Minnesota lakes over the…
Visual Detection and Tracking System for a Spherical Amphibious Robot

PubMed Central

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-01-01

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134
Visual Detection and Tracking System for a Spherical Amphibious Robot.

PubMed

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-04-15

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.
A Review of Artificial Lateral Line in Sensor Fabrication and Bionic Applications for Robot Fish

PubMed Central

Wang, Anyi; Wang, Xinbao; Liu, Peng

2016-01-01

Lateral line is a system of sense organs that can aid fishes to maneuver in a dark environment. Artificial lateral line (ALL) imitates the structure of lateral line in fishes and provides invaluable means for underwater-sensing technology and robot fish control. This paper reviews ALL, including sensor fabrication and applications to robot fish. The biophysics of lateral line are first introduced to enhance the understanding of lateral line structure and function. The design and fabrication of an ALL sensor on the basis of various sensing principles are then presented. ALL systems are collections of sensors that include carrier and control circuit. Their structure and hydrodynamic detection are reviewed. Finally, further research trends and existing problems of ALL are discussed. PMID:28115825
Object Classification in Semi Structured Enviroment Using Forward-Looking Sonar

PubMed Central

dos Santos, Matheus; Ribeiro, Pedro Otávio; Núñez, Pedro; Botelho, Silvia

2017-01-01

The submarine exploration using robots has been increasing in recent years. The automation of tasks such as monitoring, inspection, and underwater maintenance requires the understanding of the robot’s environment. The object recognition in the scene is becoming a critical issue for these systems. On this work, an underwater object classification pipeline applied in acoustic images acquired by Forward-Looking Sonar (FLS) are studied. The object segmentation combines thresholding, connected pixels searching and peak of intensity analyzing techniques. The object descriptor extract intensity and geometric features of the detected objects. A comparison between the Support Vector Machine, K-Nearest Neighbors, and Random Trees classifiers are presented. An open-source tool was developed to annotate and classify the objects and evaluate their classification performance. The proposed method efficiently segments and classifies the structures in the scene using a real dataset acquired by an underwater vehicle in a harbor area. Experimental results demonstrate the robustness and accuracy of the method described in this paper. PMID:28961163
Cleaning-resistant Cupriavidus and Ralstonia bacteria contaminating spacecrafts and the ultra clean rooms they are assembled in.

NASA Astrophysics Data System (ADS)

Leys, N.; Dams, A.; Bossus, A.; Provoost, A.; Venkateswaran, K.; Mergeay, M.

Background Planetary Protection is preventing microbial contamination of both the target planet and the Earth when sending spacecrafts on interplanetary space mission It is important to preserve the natural conditions of other planets and to not bring with robots earthly microbes forward contamination when looking for spores of extra terrestrial life Spacecrafts and the ultra clean rooms they are assembled in are routinely monitored for microbial contamination It was shown that the floor air and surfaces of such spacecraft assembly rooms often contain Cupriavidu s and Ralstonia bacteria These bacteria not only contaminated the clean rooms but have also been found prior-to-flight on surfaces of space robots such as the Mars Odyssey Orbiter La Duc et al 2003 and even in-flight in ISS cooling water and Shuttle drinking water unpublished Aim In this study several Cupriavidus and Ralstonia strains isolated from space craft assembling rooms and spacecrafts were characterized and analysed in detail Results The analysis showed that all the Cupriavidus and Ralstonia clean-room isolates are able to use a wide variety of substrates as carbon sources including ethanol and acetone In addition they all have accumulated moderate resistances to an extraordinary collection of physical and chemical antimicrobial agents Some of the test strains were able to form biofilms on plastic and metal materials used for space robots a nutritional and
Curiosity Mars Rover Flexes its Robotic Arm

NASA Image and Video Library

2010-09-16

Test operators in a clean room at NASA Jet Propulsion Laboratory monitor some of the first motions by the robotic arm on the Mars rover Curiosity after installation in August 2010. The arm is shown in a partially extended position.
Roles of individual radicals generated by a submerged dielectric barrier discharge plasma reactor during Escherichia coli O157:H7 inactivation

NASA Astrophysics Data System (ADS)

Khan, Muhammad Saiful Islam; Lee, Eun-Jung; Kim, Yun-Ji

2015-10-01

A submerged dielectric barrier discharge plasma reactor (underwater DBD) has been used on Escherichia coli O157:H7 (ATCC 35150). Plasma treatment was carried out using clean dry air gas to investigate the individual effects of the radicals produced by underwater DBD on an E. coli O157:H7 suspension (8.0 log CFU/ml). E. coli O157:H7 was reduced by 6.0 log CFU/ml for 2 min of underwater DBD plasma treatment. Optical Emission Spectra (OES) shows that OH and NO (α, β) radicals, generated by underwater DBD along with ozone gas. E. coli O157:H7 were reduced by 2.3 log CFU/ml for 10 min of underwater DBD plasma treatment with the terephthalic acid (TA) OH radical scavenger solution, which is significantly lower (3.7 log CFU/ml) than the result obtained without using the OH radical scavenger. A maximum of 1.5 ppm of ozone gas was produced during the discharge of underwater DBD, and the obtained reduction difference in E.coli O157:H7 in presence and in absence of ozone gas was 1.68 log CFU/ml. The remainder of the 0.62 log CFU/ml reduction might be due to the effect of the NO (α, β) radicals or due to the combined effect of all the radicals produced by underwater DBD. A small amount of hydrogen peroxide was also generated but does not play any role in E. coli O157:H7 inactivation.

Analysis, design and testing of high pressure waterjet nozzles

NASA Technical Reports Server (NTRS)

Mazzoleni, Andre P.

1996-01-01

The Hydroblast Research Cell at MSFC is both a research and a processing facility. The cell is used to investigate fundamental phenomena associated with waterjets as well as to clean hardware for various NASA and contractor projects. In the area of research, investigations are made regarding the use of high pressure waterjets to strip paint, grease, adhesive and thermal spray coatings from various substrates. Current industrial methods of cleaning often use ozone depleting chemicals (ODC) such as chlorinated solvents, and high pressure waterjet cleaning has proven to be a viable alternative. Standard methods of waterjet cleaning use hand held or robotically controlled nozzles. The nozzles used can be single-stream or multijet nozzles, and the multijet nozzles may be mounted in a rotating head or arranged in a fan-type shape. We consider in this paper the use of a rotating, multijet, high pressure water nozzle which is robotically controlled. This method enables rapid cleaning of a large area, but problems such as incomplete coverage (e.g. the formation of 'islands' of material not cleaned) and damage to the substrate from the waterjet have been observed. In addition, current stripping operations require the nozzle to be placed at a standoff distance of approximately 2 inches in order to achieve adequate performance. This close proximity of the nozzle to the target to be cleaned poses risks to the nozzle and the target in the event of robot error or the striking of unanticipated extrusions on the target surface as the nozzle sweeps past. Two key motivations of this research are to eliminate the formation of 'coating islands' and to increase the allowable standoff distance of the nozzle.
A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1993-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/sofware implemtation of the algotithms are described in this paper. Initial experimental results are reported.
Enhancement Of Water-Jet Stripping Of Foam

NASA Technical Reports Server (NTRS)

Cosby, Steven A.; Shockney, Charles H.; Bates, Keith E.; Shalala, John P.; Daniels, Larry S.

1995-01-01

Improved robotic high-pressure-water-jet system strips foam insulation from parts without removing adjacent coating materials like paints, primers, and sealants. Even injects water into crevices and blind holes to clean out foam, without harming adjacent areas. Eliminates both cost of full stripping and recoating and problem of disposing of toxic solutions used in preparation for coating. Developed for postflight refurbishing of aft skirts of booster rockets. System includes six-axis robot provided with special end effector and specially written control software, called Aftfoam. Adaptable to cleaning and stripping in other industrial settings.
A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks

PubMed Central

Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

2017-01-01

The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power adjustment ratio while improving the network performance. PMID:28471387
A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks.

PubMed

Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

2017-05-04

The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV's parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power adjustment ratio while improving the network performance.
The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth

DTIC Science & Technology

2008-09-01

B. Butler. Field trials of the Theseus AUV. Proc. Int. Symp. on Unmanned Untethered Submersible Technology, page 615, 1995. [9] R. M. Eustice, L. L...pages 4257–4264, Apr. 2007. [10] J. Ferguson, A. Pope, B. Butler, and R. Verrall. Theseus AUV-two record breaking missions. Sea Technology, 40(2):65
Tools for Tomorrow’s Science and Technology Workforce: MATE’s 2006 ROV Competition Sets Students’ Sights on Ocean Observing Systems

DTIC Science & Technology

2006-09-01

Underwater Robot Challenge was organized and supported by the City University of Hong Kong and the WWF (Worldwide Fund for Nature). THE POWER OF... PARTNERSHIP In addition to providing background information and resources for developing the mission scenario, working with Ocean.US and the ORION
KENNEDY SPACE CENTER, FLA. - Researchers conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Researchers conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
Design of a Localized Fluidization Burrowing Robot

NASA Astrophysics Data System (ADS)

Dorsch, Daniel; Winter, Amos

2014-11-01

This presentation will focus on the critical fluid and granular mechanics principles that drove the design of RoboClam 2.0, a self-actuated, radially expanding underwater burrowing device. RoboClam 2.0 was inspired by the Atlantic razor clam, Ensis directus, which burrows by contracting its valves and fluidizing the surrounding soil to reduce burrowing drag. This contraction results in a localized fluidized region occurring 1-5 body radii away from the animal. Moving through a fluidized, rather than static, soil requires energy that scales linearly with depth, rather than depth squared. In addition to providing an advantage for the animal, localized fluidization may yield significant value to engineering applications such as subsea robot anchoring and pipe installation. RoboClam 2.0 is sized to be an anchoring platform for autonomous underwater vehicles. We will present the scaling relationships that can be used to design RoboClam derivatives for different size scales and applications. The critical speed, displacement and force with which the device must contract to create fluidization are calculated based on soil parameters. These parametric relationships allow for choosing actuators of appropriate size and power output for desired burrowing performance.
Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Woodward, Gail

2011-01-01

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.
Design and control of an embedded vision guided robotic fish with multiple control surfaces.

PubMed

Yu, Junzhi; Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.
Ionic polymer-metal composite enabled robotic manta ray

NASA Astrophysics Data System (ADS)

Chen, Zheng; Um, Tae I.; Bart-Smith, Hilary

2011-04-01

The manta ray, Manta birostris, demonstrates excellent swimming capabilities; generating highly efficient thrust via flapping of dorsally flattened pectoral fins. In this paper, we present an underwater robot that mimics the swimming behavior of the manta ray. An assembly-based fabrication method is developed to create the artificial pectoral fins, which are capable of generating oscillatory with a large twisting angle between leading and trailing edges. Ionic polymer-metal composite (IPMC) actuators are used as artificial muscles in the fin. Each fin consists of four IPMC beams bonded with a compliant poly(dimethylsiloxane) (PDMS) membrane. By controlling each individual IPMC strips, we are able to generate complex flapping motions. The fin is characterized in terms of tip deflection, tip blocking force, twist angle, and power consumption. Based on the characteristics of the artificial pectoral fin, a small size and free-swimming robotic manta ray is developed. The robot consists of two artificial pectoral fins, a rigid body, and an on-board control unit with a lithium ion rechargeable battery. Experimental results show that the robot swam at a speed of up to 0.055 body length per second (BL/sec).
Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

PubMed Central

Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface. PMID:24688413
Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators.

PubMed

Shintake, Jun; Cacucciolo, Vito; Shea, Herbert; Floreano, Dario

2018-06-29

This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potentially offers swimming at higher speeds and acceleration rates, and efficient locomotion. The robot consists of laminated silicone layers wherein two DEAs are used in an antagonistic configuration, generating undulating fish-like motion. The design of the robot is guided by a mathematical model based on the Euler-Bernoulli beam theory and takes account of the nonuniform geometry of the robot and of the hydrodynamic effect of water. The modeling results were compared with the experimental results obtained from the fish robot with a total length of 150 mm, a thickness of 0.75 mm, and weight of 4.4 g. We observed that the frequency peaks in the measured thrust force produced by the robot are similar to the natural frequencies computed by the model. The peak swimming speed of the robot was 37.2 mm/s (0.25 body length/s) at 0.75 Hz. We also observed that the modal shape of the robot at this frequency corresponds to the first natural mode. The swimming of the robot resembles real fish and displays a Strouhal number very close to those of living fish. These results suggest the high potential of DEA-based underwater robots relying on BCF propulsion, and applicability of our design and fabrication methods.
Design and Fabrication of Soft Morphing Ray Propulsor: Undulator and Oscillator.

PubMed

Kim, Hyung-Soo; Lee, Jang-Yeob; Chu, Won-Shik; Ahn, Sung-Hoon

2017-03-01

A soft morphing ray propulsor capable of generating an undulating motion in its pectoral fins was designed and fabricated. The propulsor used shape memory alloy for actuation, and the body was made with soft polymers. To determine the effects of undulation in the fins, two models that differed in terms of the presence of undulation were fabricated using different polymer materials. The experimental models were tested with a dynamometer to measure and compare thrust tendencies. Thrust measurements were conducted with various fin beat frequencies. Using the experimental data, the concept of an optimized standalone version of the ray robot was suggested and its prototype was fabricated. The fabricated robot was able to swim as fast as 0.26 body length per second and 38% more efficient than other smart material-based ray-like underwater robots.
Evaluation of Surface Sampling for Bacillus Spores Using ...

EPA Pesticide Factsheets

Journal Article In this study, commercially-available domestic cleaning robots were evaluated for spore surface sampling efficiency on common indoor surfaces. The current study determined the sampling efficiency of each robot, without modifying the sensors, algorithms, or logics set by the manufacturers.
Evolutionary multiobjective design of a flexible caudal fin for robotic fish.

PubMed

Clark, Anthony J; Tan, Xiaobo; McKinley, Philip K

2015-11-25

Robotic fish accomplish swimming by deforming their bodies or other fin-like appendages. As an emerging class of embedded computing system, robotic fish are anticipated to play an important role in environmental monitoring, inspection of underwater structures, tracking of hazardous wastes and oil spills, and the study of live fish behaviors. While integration of flexible materials (into the fins and/or body) holds the promise of improved swimming performance (in terms of both speed and maneuverability) for these robots, such components also introduce significant design challenges due to the complex material mechanics and hydrodynamic interactions. The problem is further exacerbated by the need for the robots to meet multiple objectives (e.g., both speed and energy efficiency). In this paper, we propose an evolutionary multiobjective optimization approach to the design and control of a robotic fish with a flexible caudal fin. Specifically, we use the NSGA-II algorithm to investigate morphological and control parameter values that optimize swimming speed and power usage. Several evolved fin designs are validated experimentally with a small robotic fish, where fins of different stiffness values and sizes are printed with a multi-material 3D printer. Experimental results confirm the effectiveness of the proposed design approach in balancing the two competing objectives.
Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.
Student-Built Underwater Video and Data Capturing Device

NASA Astrophysics Data System (ADS)

Whitt, F.

2016-12-01

Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.
Automated processing of forensic casework samples using robotic workstations equipped with nondisposable tips: contamination prevention.

PubMed

Frégeau, Chantal J; Lett, C Marc; Elliott, Jim; Yensen, Craig; Fourney, Ron M

2008-05-01

An automated process has been developed for the analysis of forensic casework samples using TECAN Genesis RSP 150/8 or Freedom EVO liquid handling workstations equipped exclusively with nondisposable tips. Robot tip cleaning routines have been incorporated strategically within the DNA extraction process as well as at the end of each session. Alternative options were examined for cleaning the tips and different strategies were employed to verify cross-contamination. A 2% sodium hypochlorite wash (1/5th dilution of the 10.8% commercial bleach stock) proved to be the best overall approach for preventing cross-contamination of samples processed using our automated protocol. The bleach wash steps do not adversely impact the short tandem repeat (STR) profiles developed from DNA extracted robotically and allow for major cost savings through the implementation of fixed tips. We have demonstrated that robotic workstations equipped with fixed pipette tips can be used with confidence with properly designed tip washing routines to process casework samples using an adapted magnetic bead extraction protocol.

Refueling Strategies for a Team of Cooperating AUVs

DTIC Science & Technology

2011-01-01

manager, and thus the constraint a centrally managed underwater network imposes on the mission. Task management utilizing Robust Decentralized Task ...the computational complexity. A bid based approach to task management has also been studied as a possible means of decentralization of group task ...currently performing another task . In [18], ground robots perform distributed task allocation using the ASyMTRy-D algorithm, which is based on CNP
H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps.

PubMed

Vallicrosa, Guillem; Ridao, Pere

2018-05-01

Occupancy Grid maps provide a probabilistic representation of space which is important for a variety of robotic applications like path planning and autonomous manipulation. In this paper, a SLAM (Simultaneous Localization and Mapping) framework capable of obtaining this representation online is presented. The H-SLAM (Hilbert Maps SLAM) is based on Hilbert Map representation and uses a Particle Filter to represent the robot state. Hilbert Maps offer a continuous probabilistic representation with a small memory footprint. We present a series of experimental results carried both in simulation and with real AUVs (Autonomous Underwater Vehicles). These results demonstrate that our approach is able to represent the environment more consistently while capable of running online.
Lateral-Line Detection of Underwater Objects: From Goldfish to Submarines

NASA Astrophysics Data System (ADS)

van Hemmen, J. Leo

2010-03-01

Fish and some aquatic amphibians use their mechanosensory lateral-line system to navigate by means of hydrodynamic cues. How a fish determines an object's position and shape only through the lateral-line system and the ensuing neuronal processing is still a challenging problem. Our studies have shown that both stimulus position and stimulus form can be determined within the range of about one fish length and are encoded through the response of the afferent nerves originating from the detectors. A minimal detection model of a vibrating sphere (a dipole) has now been extended to other stimuli such as translating spheres, ellipsoids, or even wakes (vortex rings). The theoretical model is fully verified by experimental data. We have also constructed an underwater robot with an artificial lateral-line system designed to detect e.g. the presence of walls by measuring the change of water flow around the body. We will show how a simple model fits experimental results obtained from trout and goldfish and how a submarine may well be able to detect underwater objects by using an artificial lateral-line system.
On the coupling of nonlinear macro-fiber composite piezoelectric cantilever dynamics with hydrodynamic loads

NASA Astrophysics Data System (ADS)

Tan, D.; Erturk, A.

2018-03-01

For bio-inspired, fish-like robotic propulsion, the Macro-Fiber Composite (MFC) piezoelectric technology offers noiseless actuation with a balance between actuation force and velocity response. However, internal nonlinear- ities within the MFCs, such as piezoelectric softening, geometric hardening, inertial softening, and nonlinear dissipation, couple with the hydrodynamic loading on the structure from the surrounding fluid. In the present work, we explore nonlinear actuation of MFC cantilevers underwater and develop a mathematical framework for modeling and analysis. In vacuo resonant actuation experiments are conducted for a set of MFC cantilevers of varying length to width aspect ratios to validate the structural model in the absence of fluid loading. These MFC cantilevers are then subjected to underwater resonant actuation experiments, and model simulations are compared with nonlinear experimental frequency response functions. It is observed that semi-empirical hydro- dynamic loads obtained from quasilinear experiments have to be modified to account for amplitude dependent added mass, and additional nonlinear hydrodynamic effects might be present, yielding qualitative differences in the resulting underwater frequency respones curves with increased excitation amplitude.
One-step assembly of Fe(III)-CMC chelate hydrogel onto nanoneedle-like CuO@Cu membrane with superhydrophilicity for oil-water separation

NASA Astrophysics Data System (ADS)

Dai, Jiangdong; Chang, Zhongshuai; Xie, Atian; Zhang, Ruilong; Tian, Sujun; Ge, Wenna; Yan, Yongsheng; Li, Chunxiang; Xu, Wei; Shao, Rong

2018-05-01

The research of superhydrophilic interface is developing rapidly, but the preparations of superhydrophilic surfaces through simple methods are still challenging. Herein, we reported a facile, rapid and environmentally-friendly approach for preparing a novel superhydrophilic and underwater superoleophobic membrane via the thermal oxidation of Cu mesh and one-step coordinated assembly of Fe(III)-CMC chelate hydrogel. Superhydrophilicity was attributed to the hydrophilicity of Fe(III)-CMC chelate hydrogel and nanoneedle-like rough structure of CuO@Cu membrane. The membrane was used to separate a variety of oil/water mixtures and exhibited excellent separation performance. Moreover, the membrane exhibited the excellent durability and superior stability against corrosion conditions. We envision that the Fe(III)-CMC@CuO@Cu membrane with good underwater superoleophobicity could provide a candidate not only for oil/water separation but also many other potential applications such as underwater oil manipulation, self-clean, and bio-adhesion control.
Roles of individual radicals generated by a submerged dielectric barrier discharge plasma reactor during Escherichia coli O157:H7 inactivation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Khan, Muhammad Saiful Islam; Lee, Eun-Jung; Kim, Yun-Ji, E-mail: yunji@kfri.re.kr

A submerged dielectric barrier discharge plasma reactor (underwater DBD) has been used on Escherichia coli O157:H7 (ATCC 35150). Plasma treatment was carried out using clean dry air gas to investigate the individual effects of the radicals produced by underwater DBD on an E. coli O157:H7 suspension (8.0 log CFU/ml). E. coli O157:H7 was reduced by 6.0 log CFU/ml for 2 min of underwater DBD plasma treatment. Optical Emission Spectra (OES) shows that OH and NO (α, β) radicals, generated by underwater DBD along with ozone gas. E. coli O157:H7 were reduced by 2.3 log CFU/ml for 10 min of underwatermore » DBD plasma treatment with the terephthalic acid (TA) OH radical scavenger solution, which is significantly lower (3.7 log CFU/ml) than the result obtained without using the OH radical scavenger. A maximum of 1.5 ppm of ozone gas was produced during the discharge of underwater DBD, and the obtained reduction difference in E.coli O157:H7 in presence and in absence of ozone gas was 1.68 log CFU/ml. The remainder of the 0.62 log CFU/ml reduction might be due to the effect of the NO (α, β) radicals or due to the combined effect of all the radicals produced by underwater DBD. A small amount of hydrogen peroxide was also generated but does not play any role in E. coli O157:H7 inactivation.« less
Savannah River Site Robotics

ScienceCinema

None

2018-04-16

Meet Sandmantis and Frankie, two advanced robotic devices that are key to cleanup at Savannah River Site. Sandmantis cleans hard, residual waste off huge underground storage tanks. Frankie is equipped with unique satellite capabilities and sensing abilties that can determine what chemicals still reside in the tanks in a cost effective manner.
Savannah River Site Robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

Meet Sandmantis and Frankie, two advanced robotic devices that are key to cleanup at Savannah River Site. Sandmantis cleans hard, residual waste off huge underground storage tanks. Frankie is equipped with unique satellite capabilities and sensing abilties that can determine what chemicals still reside in the tanks in a cost effective manner.
Robot design for a vacuum environment

NASA Technical Reports Server (NTRS)

Belinski, S.; Trento, W.; Imani-Shikhabadi, R.; Hackwood, S.

1987-01-01

The cleanliness requirements for many processing and manufacturing tasks are becoming ever stricter, resulting in a greater interest in the vacuum environment. Researchers discuss the importance of this special environment, and the development of robots which are physically and functionally suited to vacuum processing tasks. Work is in progress at the Center for robotic Systems in Microelectronics (CRSM) to provide a robot for the manufacture of a revolutionary new gyroscope in high vacuum. The need for vacuum in this and other processes is discussed as well as the requirements for a vacuum-compatible robot. Finally, researchers present details on work done at the CRSM to modify an existing clean-room compatible robot for use at high vacuum.
KENNEDY SPACE CENTER, FLA. - Research team members work with acoustic cable during underwater acoustic research being conducted in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Research team members work with acoustic cable during underwater acoustic research being conducted in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Researchers utilize several types of watercraft to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Researchers utilize several types of watercraft to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
Underwater inverse LIBS (iLIBS) for marine archaeology

NASA Astrophysics Data System (ADS)

Asmus, J.; Magde, M.; Elford, J.; Magde, D.; Parfenov, V.

2013-05-01

In recent years there have been enormous advances in nautical archaeology through developments in SONAR technologies as well as in manned and robotic submersible vehicles. The number of sunken vessel discoveries has escalated in many of the seas of the world in response to the widespread application of these and other new tools. Customarily, surviving artifacts within the debris field of a wreck are collected and then moved to laboratories, centers, or institutions for analyses and possible conservation. Frequently, the conservation phase involves chemical treatments to stabilize an artefact to standard temperature, pressure, and humidity instead of an undersea environment. Many of the artefacts encountered at an underwater site are now characterized and restored in-situ in accordance with modern trends in art conservation. Two examples of this trend are exemplified by the resting place of the wreck of the Titanic in the Atlantic and the Cancun Underwater Park in the Caribbean Sea. These two debris fields have been turned into museums for diving visitors. Several research groups have investigated the possibility of adapting the well-established analytical tool Laser Induced Breakdown Spectroscopy (LIBS) to in-situ elemental analyses of underwater cultural, historic, and archaeological artefacts where discovered, rather than as a phase of a salvage operation. As the underwater laser ablation associated with LIBS generates a "snowplough" shockwave within the aqueous matrix, the atomic emission spectrum is usually severely attenuated in escaping from the target. Consequently, probative experiments to date generally invoke a submerged air chamber or air jet to isolate water from the interaction zone as well as employ more complex double-pulse lasers. These measures impose severe logistical constraints on the examination of widely dispersed underwater artefacts. In order to overcome this constraint we report on water-immersion LIBS experiments performed with oblique laser irradiation and spectral detection at the complementary angle so as to view emission from behind the shockwave. Targets of silver, gold, and copper have been studied. It is found that this approach enables LIBS detection in water both in emission and in absorption. It appears that underwater inverse LIBS may be especially useful in underwater archaeology.
Characterization of an acoustic actuation mechanism for robotic propulsion in low Reynolds number environments

NASA Astrophysics Data System (ADS)

House, Christopher; Armstrong, Jenelle; Burkhardt, John; Firebaugh, Samara

2014-06-01

With the end goal of medical applications such as non-invasive surgery and targeted drug delivery, an acoustically driven resonant structure is proposed for microrobotic propulsion. At the proposed scale, the low Reynolds number environment requires non-reciprocal motion from the robotic structure for propulsion; thus, a "flapper" with multiple, flexible joints, has been designed to produce excitation modes that involve the necessary flagella-like bending for non-reciprocal motion. The key design aspect of the flapper structure involves a very thin joint that allows bending in one (vertical) direction, but not the opposing direction. This allows for the second mass and joint to bend in a manner similar to a dolphin's "kick" at the bottom of their stroke, resulting in forward thrust. A 130 mm x 50 mm x 0.2 mm prototype of a swimming robot that utilizes the flapper was fabricated out of acrylic using a laser cutter. The robot was tested in water and in a water-glycerine solution designed to mimic microscale fluid conditions. The robot exhibited forward propulsion when excited by an underwater speaker at its resonance mode, with velocities up to 2.5 mm/s. The robot also displayed frequency selectivity, leading to the possibility of exploring a steering mechanism with alternatively tuned flappers. Additional tests were conducted with a robot at a reduced size scale.
Road-Cleaning Device

ERIC Educational Resources Information Center

Roman, Harry T.

2014-01-01

Roadways are literally soaked with petrochemical byproducts, oils, gasoline, and other volatile substances that eventually run off into sewers and end up in rivers, waterways, and other undesirable places. Can the roads be cleaned of these wastes, with their proper disposal? Can vehicles, robots, or other devices be designed that could be driven…
Fusion of nacre, mussel, and lotus leaf: bio-inspired graphene composite paper with multifunctional integration

NASA Astrophysics Data System (ADS)

Zhong, Da; Yang, Qinglin; Guo, Lin; Dou, Shixue; Liu, Kesong; Jiang, Lei

2013-06-01

Multifunctional integration is an inherent characteristic for biological materials with multiscale structures. Learning from nature is an effective approach for scientists and engineers to construct multifunctional materials. In nature, mollusks (abalone), mussels, and the lotus have evolved different and optimized solutions to survive. Here, bio-inspired multifunctional graphene composite paper was fabricated in situ through the fusion of the different biological solutions from nacre (brick-and-mortar structure), mussel adhesive protein (adhesive property and reducing character), and the lotus leaf (self-cleaning effect). Owing to the special properties (self-polymerization, reduction, and adhesion), dopamine could be simultaneously used as a reducing agent for graphene oxide and as an adhesive, similar to the mortar in nacre, to crosslink the adjacent graphene. The resultant nacre-like graphene paper exhibited stable superhydrophobicity, self-cleaning, anti-corrosion, and remarkable mechanical properties underwater.Multifunctional integration is an inherent characteristic for biological materials with multiscale structures. Learning from nature is an effective approach for scientists and engineers to construct multifunctional materials. In nature, mollusks (abalone), mussels, and the lotus have evolved different and optimized solutions to survive. Here, bio-inspired multifunctional graphene composite paper was fabricated in situ through the fusion of the different biological solutions from nacre (brick-and-mortar structure), mussel adhesive protein (adhesive property and reducing character), and the lotus leaf (self-cleaning effect). Owing to the special properties (self-polymerization, reduction, and adhesion), dopamine could be simultaneously used as a reducing agent for graphene oxide and as an adhesive, similar to the mortar in nacre, to crosslink the adjacent graphene. The resultant nacre-like graphene paper exhibited stable superhydrophobicity, self-cleaning, anti-corrosion, and remarkable mechanical properties underwater. Electronic supplementary information (ESI) available. See DOI: 10.1039/c3nr33632h
Robotic Water Blast Cleaner

NASA Technical Reports Server (NTRS)

Sharpe, M. H.; Roberts, M. L.; Hill, W. E.; Jackson, C. H.

1983-01-01

Water blasting system under development removes hard, dense, extraneous material from surfaces. High pressure pump forces water at supersonic speed through nozzle manipulated by robot. Impact of water blasts away unwanted material from workpiece rotated on air bearing turntable. Designed for removing thermal-protection material, system is adaptable to such industrial processes as cleaning iron or steel castings.
Vessel Biofouling Prevention and Management Options Report

DTIC Science & Technology

2015-03-01

Marine Reserve GNPD Galapagos National Park Directorate gpm Gallons per minute HST™ Hull Surface Treatment HullBUG Hull Bio -Mimetic Underwater...operators and hull cleaning equipment vendors. 2 VESSEL STRUCTURES SUBJECT TO BIOFOULING All submerged areas of the hull, including appendages and niche...categorized as proactive (preventative) and reactive (removal). Preventative measures include hull coatings that present bio -toxic surfaces to the immediate
In-Situ Characterization of Underwater Radioactive Sludge

DOE Office of Scientific and Technical Information (OSTI.GOV)

Simpson, A.P.; Clapham, M.J.; Swinson, B.

2008-07-01

A fundamental requirement underpinning safe clean-up technologies for legacy spent nuclear fuel (SNF) ponds, pools and wet silos is the ability to characterize the radioactive waste form prior to retrieval. The corrosion products resulting from the long term underwater storage of spent nuclear fuel, reactor components and reprocessing debris present a major hazard to facility decontamination and decommissioning in terms of their radioactive content and physical / chemical reactivity. The ability to perform in-situ underwater non-destructive characterization of sludge and debris in a safe and cost-effective manner offers significant benefits over traditional destructive sampling methods. Several techniques are available formore » underwater measurements including (i) Gross gamma counting, (ii) Low-, Medium- and High- Resolution Gamma Spectroscopy, (iii) Passive neutron counting and (iv) Active Neutron Interrogation. The optimum technique depends on (i) the radioactive inventory (ii) mechanical access restrictions for deployment of the detection equipment, interrogation sources etc. (iii) the integrity of plant records and (iv) the extent to which Acceptable Knowledge which may be used for 'fingerprinting' the radioactive contents to a marker nuclide. Prior deployments of underwater SNF characterization equipment around the world have been reviewed with respect to recent developments in gamma and neutron detection technologies, digital electronics advancements, data transfer techniques, remote operation capabilities and improved field ruggedization. Modeling and experimental work has been performed to determine the capabilities, performance envelope and operational limitations of the future generation of non-destructive underwater sludge characterization techniques. Recommendations are given on the optimal design of systems and procedures to provide an acceptable level of confidence in the characterization of residual sludge content of legacy wet storage facilities such that retrieval and repackaging of SNF sludges may proceed safely and efficiently with support of the regulators and the public. (author)« less
Joint Operating Environment: Trends and Challenges for the Future Joint Force Through 2030

DTIC Science & Technology

2007-12-01

unmanned underwater vehicles loom on the horizon that can be swarmed against our ports and cities. Self - healing , networked minefields will... robots in an effort to provide the basic physical labor needed by the society. Russia has seen a major withdrawal of it population from the Far...of criminal elements. International organized crime, motivated by greed and self -interest, may increase as potential security threats to the
Real-Time 3D Sonar Modeling And Visualization

DTIC Science & Technology

1998-06-01

looking back towards Manta sonar beam, Manta plus sonar from 1000m off track. 185 NUWC sponsor Erik Chaum Principal investigator Don Brutzman...USN Sonar Officer LT Kevin Byrne USN Intelligence Officer CPT Russell Storms USA Erik Chaum works in NUWC Code 22. He supervised the design and...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," chapter 13, AI-BasedMobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy

A bio-inspired real-time capable artificial lateral line system for freestream flow measurements.

PubMed

Abels, C; Qualtieri, A; De Vittorio, M; Megill, W M; Rizzi, F

2016-06-03

To enhance today's artificial flow sensing capabilities in aerial and underwater robotics, future robots could be equipped with a large number of miniaturized sensors distributed over the surface to provide high resolution measurement of the surrounding fluid flow. In this work we show a linear array of closely separated bio-inspired micro-electro-mechanical flow sensors whose sensing mechanism is based on a piezoresistive strain-gauge along a stress-driven cantilever beam, mimicking the biological superficial neuromasts found in the lateral line organ of fishes. Aiming to improve state-of-the-art flow sensing capability in autonomously flying and swimming robots, our artificial lateral line system was designed and developed to feature multi-parameter freestream flow measurements which provide information about (1) local flow velocities as measured by the signal amplitudes from the individual cantilevers as well as (2) propagation velocity, (3) linear forward/backward direction along the cantilever beam orientation and (4) periodicity of pulses or pulse trains determined by cross-correlating sensor signals. A real-time capable cross-correlation procedure was developed which makes it possible to extract freestream flow direction and velocity information from flow fluctuations. The computed flow velocities deviate from a commercial system by 0.09 m s(-1) at 0.5 m s(-1) and 0.15 m s(-1) at 1.0 m s(-1) flow velocity for a sampling rate of 240 Hz and a sensor distance of 38 mm. Although experiments were performed in air, the presented flow sensing system can be applied to underwater vehicles as well, once the sensors are embedded in a waterproof micro-electro-mechanical systems package.
From land to water: bringing dielectric elastomer sensing to the underwater realm

NASA Astrophysics Data System (ADS)

Walker, Christopher; Anderson, Iain

2016-04-01

Since the late 1990's dielectric elastomers (DEs) have been investigated for their use as sensors. To date, there have been some impressive developments: finger displacement controls for video games and integration with medical rehabilitation devices to aid patient recovery. It is clear DE sensing is well established for dry applications, the next frontier, however, is to adapt this technology for the other 71% of the Earth's surface. With proven and perhaps improved water resistance, many new applications could be developed in areas such as diver communication and control of underwater robotics; even wearable devices on land must withstand sweat, washing, and the rain. This study investigated the influence of fresh and salt water on DE sensing. In particular, sensors have been manufactured with waterproof connections and submersed in fresh and salt water baths. Temperature and resting capacitance were recorded. Issues with the basic DE sensor have been identified and compensated for with modifications to the sensor. The electrostatic field, prior and post modification, has been modeled with ANSYS Maxwell. The aim of this investigation was to identify issues, perform modifications and propose a new sensor design suited to wet and underwater applications.
Neutron Interrogation System For Underwater Threat Detection And Identification

NASA Astrophysics Data System (ADS)

Barzilov, Alexander P.; Novikov, Ivan S.; Womble, Phil C.

2009-03-01

Wartime and terrorist activities, training and munitions testing, dumping and accidents have generated significant munitions contamination in the coastal and inland waters in the United States and abroad. Although current methods provide information about the existence of the anomaly (for instance, metal objects) in the sea bottom, they fail to identify the nature of the found objects. Field experience indicates that often in excess of 90% of objects excavated during the course of munitions clean up are found to be non-hazardous items (false alarm). The technology to detect and identify waterborne or underwater threats is also vital for protection of critical infrastructures (ports, dams, locks, refineries, and LNG/LPG). We are proposing a compact neutron interrogation system, which will be used to confirm possible threats by determining the chemical composition of the suspicious underwater object. The system consists of an electronic d-T 14-MeV neutron generator, a gamma detector to detect the gamma signal from the irradiated object and a data acquisition system. The detected signal then is analyzed to quantify the chemical elements of interest and to identify explosives or chemical warfare agents.
Polymer Claw: Instant Underwater Adhesive

DTIC Science & Technology

2012-03-23

technology is the use of pressure sensitive microcapsules , which release reactive amine crosslinkers into an adhesive putty when pressed against the...PROIECT GOALS AND OBIECTIVES 2 2 KEY ACCOMPLISHMENTS 2 3.1 KICKOFF MEETING 3 3.2 AMINE MICROENCAPSULATION 3 3.3 CAUSTIC CLEANING AGENT 5 3.4...caustic, and the abrasive brush. We successfully synthesized amine-filled microcapsules and a dry mixture of caustic ingredients that only activate when
Robotic fish tracking method based on suboptimal interval Kalman filter

NASA Astrophysics Data System (ADS)

Tong, Xiaohong; Tang, Chao

2017-11-01

Autonomous Underwater Vehicle (AUV) research focused on tracking and positioning, precise guidance and return to dock and other fields. The robotic fish of AUV has become a hot application in intelligent education, civil and military etc. In nonlinear tracking analysis of robotic fish, which was found that the interval Kalman filter algorithm contains all possible filter results, but the range is wide, relatively conservative, and the interval data vector is uncertain before implementation. This paper proposes a ptimization algorithm of suboptimal interval Kalman filter. Suboptimal interval Kalman filter scheme used the interval inverse matrix with its worst inverse instead, is more approximate nonlinear state equation and measurement equation than the standard interval Kalman filter, increases the accuracy of the nominal dynamic system model, improves the speed and precision of tracking system. Monte-Carlo simulation results show that the optimal trajectory of sub optimal interval Kalman filter algorithm is better than that of the interval Kalman filter method and the standard method of the filter.
Integration of robotic resources into FORCEnet

NASA Astrophysics Data System (ADS)

Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

2006-05-01

The Networked Intelligence, Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances. The foundations are built upon FORCEnet-the U.S. Navy's process to define C4ISR for net-centric operations-and the Navy Unmanned Systems Common Control Roadmap to develop technologies and standards for interoperability, data sharing, publish-and-subscribe methodology, and software reuse. The paper defines the goals and boundaries for NISR with focus on the system architecture, including the design tradeoffs necessary for unmanned systems in a net-centric model. Special attention is given to two specific scenarios demonstrating the integration of unmanned ground and water surface vehicles into the open-architecture web-based command-and-control information-management system of Composeable FORCEnet. Planned spiral development for NISR will improve collaborative control, expand robotic sensor capabilities, address multiple domains including underwater and aerial platforms, and extend distributive communications infrastructure for battlespace optimization for unmanned systems in net-centric operations.
Large-scale deep learning for robotically gathered imagery for science

NASA Astrophysics Data System (ADS)

Skinner, K.; Johnson-Roberson, M.; Li, J.; Iscar, E.

2016-12-01

With the explosion of computing power, the intelligence and capability of mobile robotics has dramatically increased over the last two decades. Today, we can deploy autonomous robots to achieve observations in a variety of environments ripe for scientific exploration. These platforms are capable of gathering a volume of data previously unimaginable. Additionally, optical cameras, driven by mobile phones and consumer photography, have rapidly improved in size, power consumption, and quality making their deployment cheaper and easier. Finally, in parallel we have seen the rise of large-scale machine learning approaches, particularly deep neural networks (DNNs), increasing the quality of the semantic understanding that can be automatically extracted from optical imagery. In concert this enables new science using a combination of machine learning and robotics. This work will discuss the application of new low-cost high-performance computing approaches and the associated software frameworks to enable scientists to rapidly extract useful science data from millions of robotically gathered images. The automated analysis of imagery on this scale opens up new avenues of inquiry unavailable using more traditional manual or semi-automated approaches. We will use a large archive of millions of benthic images gathered with an autonomous underwater vehicle to demonstrate how these tools enable new scientific questions to be posed.
An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations

DTIC Science & Technology

2015-03-01

addressing rigid body and added mass, Coriolis effects , damping and restoring forces. 3. System Modeling for THAUS-like Platforms Yuh [3] presents...term, ( )C  is the rigid body and added mass Coriolis effects , ( )D  is the damping term, and )(g  is the reactionary force term. The second...operations potentially increase the efficiency, effectiveness and safety of the tasks they perfonn. The utilization of an autonomous unde1water vehicle
KENNEDY SPACE CENTER, FLA. - Researchers are positioned on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Researchers are positioned on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Researchers utilize several types of watercraft to conduct underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Researchers utilize several types of watercraft to conduct underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Dr. Grant Gilmore (left), Dynamac Corp., talks to another member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Dr. Grant Gilmore (left), Dynamac Corp., talks to another member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Research team members roll out acoustic cable to the water's edge during underwater acoustic research being conducted in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Research team members roll out acoustic cable to the water's edge during underwater acoustic research being conducted in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Joe Bartoszek, NASA, is a member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Joe Bartoszek, NASA, is a member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Research team members take their places on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Research team members take their places on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Dr. Grant Gilmore, Dynamac Corp., utilizes a laptop computer to explain aspects of the underwater acoustic research under way in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Dr. Grant Gilmore, Dynamac Corp., utilizes a laptop computer to explain aspects of the underwater acoustic research under way in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
An Acoustic OFDM System with Symbol-by-Symbol Doppler Compensation for Underwater Communication

PubMed Central

MinhHai, Tran; Rie, Saotome; Suzuki, Taisaku; Wada, Tomohisa

2016-01-01

We propose an acoustic OFDM system for underwater communication, specifically for vertical link communications such as between a robot in the sea bottom and a mother ship in the surface. The main contributions are (1) estimation of time varying Doppler shift using continual pilots in conjunction with monitoring the drift of Power Delay Profile and (2) symbol-by-symbol Doppler compensation in frequency domain by an ICI matrix representing nonuniform Doppler. In addition, we compare our proposal against a resampling method. Simulation and experimental results confirm that our system outperforms the resampling method when the velocity changes roughly over OFDM symbols. Overall, experimental results taken in Shizuoka, Japan, show our system using 16QAM, and 64QAM achieved a data throughput of 7.5 Kbit/sec with a transmitter moving at maximum 2 m/s, in a complicated trajectory, over 30 m vertically. PMID:27057558
Application of TSL Underwater Robots (AUV) for Investigation of Benthic Ecosystems and Quantification of Benthic Invertebrate Reserves

NASA Astrophysics Data System (ADS)

Golikov, S. Yu; Dulepov, V. I.; Maiorov, I. S.

2017-11-01

The issues on the application of autonomous underwater vehicles for assessing the abundance, biomass, distribution and reserves of invertebrates in the marine benthic ecosystems and on the environmental monitoring are discussed. An example of the application of methodology to assess some of the quantitative characteristics of macrobenthos is provided based upon using the information obtained from the TSL AUV in the Peter the Great Gulf (the Sea of Japan) in the Bay of Paris and the Eastern Bosphorus Strait within the area of the bridge leading to the Russian island. For the quantitative determination of the benthic invertebrate reserves, the values of biomass density of specific species are determined. Based on the data of direct measurements and weightings, the equations of weight dependencies on the size of animals are estimated according to the studied species that are well described by the power law dependence.
Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, a university team cleans their robot miner after its turn in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.
[Service robots in elderly care. Possible application areas and current state of developments].

PubMed

Graf, B; Heyer, T; Klein, B; Wallhoff, F

2013-08-01

The term "Service robotics" describes semi- or fully autonomous technical systems able to perform services useful to the well-being of humans. Service robots have the potential to support and disburden both persons in need of care as well as nursing care staff. In addition, they can be used in prevention and rehabilitation in order to reduce or avoid the need for help. Products currently available to support people in domestic environments are mainly cleaning or remote-controlled communication robots. Examples of current research activities are the (further) development of mobile robots as advanced communication assistants or the development of (semi) autonomous manipulation aids and multifunctional household assistants. Transport robots are commonly used in many hospitals. In nursing care facilities, the first evaluations have already been made. So-called emotional robots are now sold as products and can be used for therapeutic, occupational, or entertainment activities.
Monitoring and Controlling an Underwater Robotic Arm

NASA Technical Reports Server (NTRS)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Polymer Claw: Instant Underwater Adhesive

DTIC Science & Technology

2012-08-27

technology is the use of pressure sensitive microcapsules , which release reactive amine crosslinkers into an adhesive putty when pressed against the surface...CLEANING AGENT RHEOLOGY 3 3.3 PRESSURE-ACTIVATED ADHESIVE 5 3.3.1 PROCESSING IMPROVEMENTS 5 3.3.2 MICROCAPSULE DIAMETER 5 3.3.3 MICROCAPSULE /RESIN...to attain a reasonable shelf life (- l wk.). The microcapsule diameter has been halved in order to improve mixing in the pressure-activated
HullBUG Technology Development for Underwater Hull Cleaning

DTIC Science & Technology

2015-05-14

drawings would be vended out to approved vendors for quoting. Quotes would be obtained for different levels of production in order to better understand...the savings associated with buying more. Once a good pricing model was developed and quantity purchased determined, parts would be vended out and...detailed, dimensioned and tolerances added to enable quoting by commercial machine shops. A top assembly drawing was created that identified all
All-Metal Tires

NASA Technical Reports Server (NTRS)

Bickler, Donald B.; Sword, Lee F.; Lindemann, Randel A.

1994-01-01

Tires used where elastomeric and pneumatic tires would not function. Metal tires withstand extreme temperatures. Used on Earth for vehicles and robots that fight fires or clean up dangerous chemicals.
Study of Command and Control (C&C) Structures on Integrating Unmanned Autonomous Systems (UAS) into Manned Environments

DTIC Science & Technology

2012-09-01

and traveled all the way around Lake Tahoe. The self - driving cars have logged over 140,000 miles since October 9, 2010 (Google 2010) pictured here...UNDERWATER VEHICLES (AUV) STARFISH is the name given to a small team of autonomous robotic fish - a project carried out by the Acoustic Research...www.scribd.com/doc/42245301/Manual-Mine- Clearance-Book1. Accessed July 23, 2012. Google. The Self - Driving Car Logs more Miles on New Wheels. August 7
Particulate Removal Using a CO2 Composite Spray Cleaning System

NASA Technical Reports Server (NTRS)

Chen, Nicole; Lin, Ying; Jackson, David; Chung, Shirley

2016-01-01

The Planetary Protection surface cleanliness requirements for potential Mars Sample Return hardware that would come in contact with Martian samples may be stricter than previous missions. The Jet Propulsion Laboratory has developed a new technology that will enable us to remove sub-micron size particles from critical hardware surfaces. A hand-held CO2 composite cleaning system was tested to verify its cleaning capabilities. This convenient, portable device can be used in cleanrooms for cleaning after rework or during spacecraft integration and assembly. It is environmentally safe and easy to use. This cleaning concept has the potential to be further developed into a robotic cleaning device on a Mars Lander to be used to clean sample acquisition or sample handling devices in situ. Contaminants of known sizes and concentrations, such as fluorescent microspheres and spores were deposited on common spacecraft material surfaces. The cleaning efficiency results will be presented and discussed.
Fluid electrodes for submersible robotics based on dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Christianson, Caleb; Goldberg, Nathaniel; Cai, Shengqiang; Tolley, Michael T.

2017-04-01

Recently, dielectric elastomer actuators (DEAs) have gathered interest for soft robotics due to their low cost, light weight, large strain, low power consumption, and high energy density. However, developing reliable, compliant electrodes for DEAs remains an ongoing challenge due to issues with fabrication, uniformity of the conductive layer, and mechanical stiffening of the actuators caused by conductive materials with large Young's moduli. In this work, we present a method for preparing, patterning, and utilizing conductive fluid electrodes. Further, when we submerse the DEAs in a bath containing a conductive fluid connected to ground, the bath serves as a second electrode, obviating the need for depositing a conductive layer to serve as either of the electrodes required of most DEAs. When we apply a positive electrical potential to the conductive fluid in the actuator with respect to ground, the electric field across the dielectric membrane causes charge carriers in the solution to apply an electrostatic force on the membrane, which compresses the membrane and causes the actuator to deform. We have used this process to develop a tethered submersible robot that can swim in a tank of saltwater at a maximum measured speed of 9.2 mm/s. Since saltwater serves as the electrode, we overcome buoyancy issues that may be a challenge for pneumatically actuated soft robots and traditional, rigid robotics. This research opens the door to low-power underwater robots for search and rescue and environmental monitoring applications.
Control Architecture for Robotic Agent Command and Sensing

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

2008-01-01

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).
Development of monitoring and diagnostic methods for robots used in remediation of waste sites. 1997 annual progress report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tecza, J.

1998-06-01

'Safe and efficient clean up of hazardous and radioactive waste sites throughout the DOE complex will require extensive use of robots. This research effort focuses on developing Monitoring and Diagnostic (M and D) methods for robots that will provide early detection, isolation, and tracking of impending faults before they result in serious failure. The utility and effectiveness of applying M and D methods to hydraulic robots has never been proven. The present research program is utilizing seeded faults in a laboratory test rig that is representative of an existing hydraulically-powered remediation robot. This report summarizes activity conducted in the firstmore » 9 months of the project. The research team has analyzed the Rosie Mobile Worksystem as a representative hydraulic robot, developed a test rig for implanted fault testing, developed a test plan and agenda, and established methods for acquiring and analyzing the test data.'« less
UNEXMIN H2020 Project: an underwater explorer for flooded mines

NASA Astrophysics Data System (ADS)

Lopes, Luís; Zajzon, Norbert; Bodo, Balázs; Henley, Stephen; Žibret, Gorazd; Almeida, José; Vörös, Csaba; Horvath, Janos; Dizdarevič, Tatjana; Rossi, Claudio; McLoughlin, Mike

2017-04-01

UNEXMIN (Underwater Explorer for Flooded Mines, Grant Agreement No. 690008, www.unexmin.eu) is a project funded by the European Commission's HORIZON2020 Framework Programme. The project is developing a multi-platform robotic system for the autonomous exploration and mapping of Europe's flooded mines. The robotic system - UX-1 - will use non-invasive methods for the 3D mapping of abandoned flooded mines, bringing new important geological and mineralogical data that cannot be currently obtained by any other means. This technology will allow the development or update of geological models at local and regional levels. The data collected will then be used to consider new exploration scenarios for the possible re-opening of some of Europe's abandoned mines which may still contain valuable resources of strategic minerals. The deployment of a multi-robotic system in such a confined environment poses challenges that must be overcome so that the robots can work autonomously, without damaging the equipment and the mine itself. Key challenges are related to the i) structural design for robustness and resilience, ii) localization, navigation and 3D mapping, iii) guidance, propulsion and control, iv) autonomous operation and supervision, v) data processing, interpretation and evaluation. The scientific instrument array is currently being tested, built and tailored for the submersible: pH, electrical conductivity, pressure and temperature analyzers and a water sampler (water sampling methods), a magnetic field analyzer, a gamma-ray counter and a sub-bottom profiler (geophysical methods) and a multispectral and UV fluorescence imaging units (optical observation methods). The instruments have been selected to generate data of maximum geoscientific interest, considering the limiting factors of the submerged underground environment, the necessary robotic functions, the size for the robot and other constraints. Other crucial components for the robot's functionality (such as movement, control, autonomy, mapping, interpretation and evaluation) include cameras, SONARs, thrusters, DVL, inertial navigation system, laser scanner, computer, batteries and the integrated pressure hull. The UNEXMIN project is currently ongoing with the development of the first mechanical model as well as the scientific instruments. The robot prototype is being developed with a spherical shape with a diameter such that will allow it to fit into the sometimes narrow underground mine openings and to freely move around them, to a depth of 500m. Component/instrument validations and simulations are being worked out to understand the behavior of the technology in the flooded mine environment. At the same time post-processing and data analysis tools are also being developed and prepared. After the groundwork and setup phases, the first robot prototype is going to be tested in four sites under real life conditions corresponding to increasingly difficult mission objectives in terms of mine layout, geometry and topology. The test sites include the Kaatiala pegmatite mine in Finland, the Urgeiriça uranium mine in Portugal and the Idrija mercury mine in Slovenia. The final, most ambitious demonstration will occur in the UK with the resurveying of the entire flooded section of the Ecton underground copper mine that nobody has seen for over 150 years.
Analysing deterioration of marble stones exposed to underwater conditions

NASA Astrophysics Data System (ADS)

Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

2016-04-01

The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study, provides useful information for evaluation of the deterioration processes of heritage stones in a marine environment, and for conservation measures aimed at the in situ preservation of archaeological sites. Acknowledgements: Community of Madrid for financing Geomateriales2 program (P2013/MIT2914), CEI-Moncloa UCM-UPM, Applied Petrology for Heritage Stone Materials Conservation Research Group.
Modelling cephalopod-inspired pulsed-jet locomotion for underwater soft robots.

PubMed

Renda, F; Giorgio-Serchi, F; Boyer, F; Laschi, C

2015-09-28

Cephalopods (i.e., octopuses and squids) are being looked upon as a source of inspiration for the development of unmanned underwater vehicles. One kind of cephalopod-inspired soft-bodied vehicle developed by the authors entails a hollow, elastic shell capable of performing a routine of recursive ingestion and expulsion of discrete slugs of fluids which enable the vehicle to propel itself in water. The vehicle performances were found to depend largely on the elastic response of the shell to the actuation cycle, thus motivating the development of a coupled propulsion-elastodynamics model of such vehicles. The model is developed and validated against a set of experimental results performed with the existing cephalopod-inspired prototypes. A metric of the efficiency of the propulsion routine which accounts for the elastic energy contribution during the ingestion/expulsion phases of the actuation is formulated. Demonstration on the use of this model to estimate the efficiency of the propulsion routine for various pulsation frequencies and for different morphologies of the vehicles are provided. This metric of efficiency, employed in association with the present elastodynamics model, provides a useful tool for performing a priori energetic analysis which encompass both the design specifications and the actuation pattern of this new kind of underwater vehicle.
Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single-site surgery (LESS).

PubMed

Feng, Haibo; Dong, Dinghui; Ma, Tengfei; Zhuang, Jinlei; Fu, Yili; Lv, Yi; Li, Liyi

2017-12-01

Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems. In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments. The in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS. The experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application. Copyright © 2017 John Wiley & Sons, Ltd.
State-Estimation Algorithm Based on Computer Vision

NASA Technical Reports Server (NTRS)

Bayard, David; Brugarolas, Paul

2007-01-01

An algorithm and software to implement the algorithm are being developed as means to estimate the state (that is, the position and velocity) of an autonomous vehicle, relative to a visible nearby target object, to provide guidance for maneuvering the vehicle. In the original intended application, the autonomous vehicle would be a spacecraft and the nearby object would be a small astronomical body (typically, a comet or asteroid) to be explored by the spacecraft. The algorithm could also be used on Earth in analogous applications -- for example, for guiding underwater robots near such objects of interest as sunken ships, mineral deposits, or submerged mines. It is assumed that the robot would be equipped with a vision system that would include one or more electronic cameras, image-digitizing circuitry, and an imagedata- processing computer that would generate feature-recognition data products.
HullBUG Technology Development for Underwater Hull Cleaning

DTIC Science & Technology

2014-01-15

Grooming Tool would be generated. These drawings would be vended out to approved vendors for quoting. Quotes would be obtained for different levels...determined, parts would be vended out and manufactured. These parts would then be assembled at SRC. A test program would then follow to fully...identified all machined parts as well as all purchased hardware Top Assembly Based on total cost, a decision was made to make 1 grooming tool and 1
HullBUG Technology Development for Underwater Hull Cleaning

DTIC Science & Technology

2013-08-23

drawings of the Grooming Tool would be generated. These drawings would be vended out to approved vendors for quoting. Quotes would be obtained for...quantity purchased determined, parts would be vended out and manufactured. These parts would then be assembled at SRC. A test program would then follow...tolerances added to enable quoting by commercial machine shops. A top assembly drawing was created that identified all machined parts as well as all
Tinning/Trimming Robot System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fureigh, M.L.

In a new surface mount assembly area at AlliedSignal Inc., Kansas City Division (KCD), a tinning/trimming robot system tins and trims the gold-plated leads of surface mount technology (SMT) transistors. The KCD-designed system uses a Unimation PUMA 260 robot, a General Production Devices SP-2000 solder pot; water-soluble Blackstone No. 2508 flux; and a Virtual Industries high-temperature, ESD-conductive, miniature suction cup. After the manual cleaning operation, the processed SMT transistors go to the QUADSTAR Automated Component Placement System for a Radar Logic Assembly. The benefits are reductions in the cost of nonconformance, worker fatigue, and standard hours.
KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin monitor some of the project's equipment just released into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin monitor some of the project's equipment just released into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
History of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Herndon, J.N.

1992-05-01

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith`s tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle`s remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less
KENNEDY SPACE CENTER, FLA. - Justin Manley, of the National Oceanic and Atmospheric Administration, is a member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Justin Manley, of the National Oceanic and Atmospheric Administration, is a member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin release some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin release some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin retrieve some of the project's equipment from the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin retrieve some of the project's equipment from the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin lifts some of the project's equipment from the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin lifts some of the project's equipment from the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin releases some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin releases some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin prepare to release some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin prepare to release some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin secure some of the project's equipment back into the vessel. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin secure some of the project's equipment back into the vessel. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin prepares some of the project's equipment for placement in the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-19

KENNEDY SPACE CENTER, FLA. - A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin prepares some of the project's equipment for placement in the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
KENNEDY SPACE CENTER, FLA. - Research team members roll out acoustic cable to the water's edge as others stand by in a watercraft during underwater acoustic research being conducted in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.

NASA Image and Video Library

2003-08-18

KENNEDY SPACE CENTER, FLA. - Research team members roll out acoustic cable to the water's edge as others stand by in a watercraft during underwater acoustic research being conducted in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASA’s Jet Propulsion Laboratory, and mobile robotic sensors from the Navy’s Mobile Diving and Salvage Unit.
Bending continuous structures with SMAs: a novel robotic fish design.

PubMed

Rossi, C; Colorado, J; Coral, W; Barrientos, A

2011-12-01

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.
Media-fill simulation tests in manual and robotic aseptic preparation of injection solutions in syringes.

PubMed

Krämer, Irene; Federici, Matteo; Kaiser, Vanessa; Thiesen, Judith

2016-04-01

The purpose of this study was to evaluate the contamination rate of media-fill products either prepared automated with a robotic system (APOTECAchemo™) or prepared manually at cytotoxic workbenches in the same cleanroom environment and by experienced operators. Media fills were completed by microbiological environmental control in the critical zones and used to validate the cleaning and disinfection procedures of the robotic system. The aseptic preparation of patient individual ready-to-use injection solutions was simulated by using double concentrated tryptic soy broth as growth medium, water for injection and plastic syringes as primary packaging materials. Media fills were either prepared automated (500 units) in the robot or manually (500 units) in cytotoxic workbenches in the same cleanroom over a period of 18 working days. The test solutions were incubated at room temperature (22℃) over 4 weeks. Products were visually inspected for turbidity after a 2-week and 4-week period. Following incubation, growth promotion tests were performed with Staphylococcus epidermidis. During the media-fill procedures, passive air monitoring was performed with settle plates and surface monitoring with contact plates on predefined locations as well as fingerprints. The plates got incubated for 5-7 days at room temperature, followed by 2-3 days at 30-35℃ and the colony forming units (cfu) counted after both periods. The robot was cleaned and disinfected according to the established standard operating procedure on two working days prior to the media-fill session, while on six other working days only six critical components were sanitized at the end of the media-fill sessions. Every day UV irradiation was operated for 4 h after finishing work. None of the 1000 media-fill products prepared in the two different settings showed turbidity after the incubation period thereby indicating no contamination with microorganisms. All products remained uniform, clear, and light-amber solutions. In addition, the reliability of the nutrient medium and the process was demonstrated by positive growth promotion tests with S. epidermidis. During automated preparation the recommended limits < 1 cfu per settle/contact plate set for cleanroom Grade A zones were not succeeded in the carousel and working area, but in the loading area of the robot. During manual preparation, the number of cfus detected on settle/contact plates inside the workbenches lay far below the limits. The number of cfus detected on fingertips succeeded several times the limit during manual preparation but not during automated preparation. There was no difference in the microbial contamination rate depending on the extent of cleaning and disinfection of the robot. Extensive media-fill tests simulating manual and automated preparation of ready-to-use cytotoxic injection solutions revealed the same level of sterility for both procedures. The results of supplemental environmental controls confirmed that the aseptic procedures are well controlled. As there was no difference in the microbial contamination rates of the media preparations depending on the extent of cleaning and disinfection of the robot, the results were used to adapt the respective standard operating procedures. © The Author(s) 2014.
Simulation and preparation of surface EVA in reduced gravity at the Marseilles Bay subsea analogue sites

NASA Astrophysics Data System (ADS)

Weiss, P.; Gardette, B.; Chirié, B.; Collina-Girard, J.; Delauze, H. G.

2012-12-01

Extravehicular activity (EVA) of astronauts during space missions is simulated nowadays underwater in neutral buoyancy facilities. Certain aspects of weightlessness can be reproduced underwater by adding buoyancy to a diver-astronaut, therefore exposing the subject to the difficulties of working without gravity. Such tests were done at the COMEX' test pool in Marseilles in the 1980s to train for a French-Russian mission to the MIR station, for the development of the European HERMES shuttle and the COLUMBUS laboratory. However, space agencies are currently studying missions to other destinations than the International Space Station in orbit, such as the return to the Moon, NEO (near-Earth objects) or Mars. All these objects expose different gravities: Moon has one sixth of Earth's gravity, Mars has a third of Earth's gravity and asteroids have virtually no surface gravity; the astronaut "floats" above the ground. The preparation of such missions calls for a new concept in neutral buoyancy training, not on man-made structures, but on natural terrain, underwater, to simulate EVA operations such as sampling, locomotion or even anchoring in low gravity. Underwater sites can be used not only to simulate the reduced gravity that astronauts will experience during their field trips, also human factors like stress are more realistically reproduced in such environment. The Bay of Marseille hosts several underwater sites that can be used to simulate various geologic morphologies, such as sink-holes which can be used to simulate astronaut descends into craters, caves where explorations of lava tubes can be trained or monolithic rock structures that can be used to test anchoring devices (e.g., near Earth objects). Marseilles with its aerospace and maritime/offshore heritage hosts the necessary logistics and expertise that is needed to perform such simulations underwater in a safe manner (training of astronaut-divers in local test pools, research vessels, subsea robots and submarines). COMEX is currently preparing a space mission simulation in the Marseilles Bay (foreseen in June 2012), and the paper will give an overview of the different underwater analogue sites that are available to the scientific community for the simulation of surface EVA or the test of scientific instruments and devices.
a Comparison Between Active and Passive Techniques for Underwater 3d Applications

NASA Astrophysics Data System (ADS)

Bianco, G.; Gallo, A.; Bruno, F.; Muzzupappa, M.

2011-09-01

In the field of 3D scanning, there is an increasing need for more accurate technologies to acquire 3D models of close range objects. Underwater exploration, for example, is very hard to perform due to the hostile conditions and the bad visibility of the environment. Some application fields, like underwater archaeology, require to recover tridimensional data of objects that cannot be moved from their site or touched in order to avoid possible damages. Photogrammetry is widely used for underwater 3D acquisition, because it requires just one or two digital still or video cameras to acquire a sequence of images taken from different viewpoints. Stereo systems composed by a pair of cameras are often employed on underwater robots (i.e. ROVs, Remotely Operated Vehicles) and used by scuba divers, in order to survey archaeological sites, reconstruct complex 3D structures in aquatic environment, estimate in situ the length of marine organisms, etc. The stereo 3D reconstruction is based on the triangulation of corresponding points on the two views. This requires to find in both images common points and to match them (correspondence problem), determining a plane that contains the 3D point on the object. Another 3D technique, frequently used in air acquisition, solves this point-matching problem by projecting structured lighting patterns to codify the acquired scene. The corresponding points are identified associating a binary code in both images. In this work we have tested and compared two whole-field 3D imaging techniques (active and passive) based on stereo vision, in underwater environment. A 3D system has been designed, composed by a digital projector and two still cameras mounted in waterproof housing, so that it can perform the various acquisitions without changing the configuration of optical devices. The tests were conducted in a water tank in different turbidity conditions, on objects with different surface properties. In order to simulate a typical seafloor, we used various concentrations of clay. The performances of the two techniques are described and discussed. In particular, the point clouds obtained are compared in terms of number of acquired 3D points and geometrical deviation.
Everyday robotic action: lessons from human action control

PubMed Central

de Kleijn, Roy; Kachergis, George; Hommel, Bernhard

2014-01-01

Robots are increasingly capable of performing everyday human activities such as cooking, cleaning, and doing the laundry. This requires the real-time planning and execution of complex, temporally extended sequential actions under high degrees of uncertainty, which provides many challenges to traditional approaches to robot action control. We argue that important lessons in this respect can be learned from research on human action control. We provide a brief overview of available psychological insights into this issue and focus on four principles that we think could be particularly beneficial for robot control: the integration of symbolic and subsymbolic planning of action sequences, the integration of feedforward and feedback control, the clustering of complex actions into subcomponents, and the contextualization of action-control structures through goal representations. PMID:24672474
Underwater optical communication performance for laser beam propagation through weak oceanic turbulence.

PubMed

Yi, Xiang; Li, Zan; Liu, Zengji

2015-02-20

In clean ocean water, the performance of a underwater optical communication system is limited mainly by oceanic turbulence, which is defined as the fluctuations in the index of refraction resulting from temperature and salinity fluctuations. In this paper, using the refractive index spectrum of oceanic turbulence under weak turbulence conditions, we carry out, for a horizontally propagating plane wave and spherical wave, analysis of the aperture-averaged scintillation index, the associated probability of fade, mean signal-to-noise ratio, and mean bit error rate. Our theoretical results show that for various values of the rate of dissipation of mean squared temperature and the temperature-salinity balance parameter, the large-aperture receiver leads to a remarkable decrease of scintillation and consequently a significant improvement on the system performance. Such an effect is more noticeable in the plane wave case than in the spherical wave case.
A Search-and-Rescue Robot System for Remotely Sensing the Underground Coal Mine Environment

PubMed Central

Gao, Junyao; Zhao, Fangzhou; Liu, Yi

2017-01-01

This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a multifunction sensor, which realizes remote sensing. When the robot system detects danger, it will send out signals to warn rescuers to keep away. The robot consists of two gas sensors, two cameras, a two-way audio, a 1 km-long fiber-optic cable for communication and a mechanical explosion-proof manipulator. Especially, the manipulator is a novel explosion-proof manipulator for cleaning obstacles, which has 3-degree-of-freedom, but is driven by two motors. Furthermore, the two robots can communicate in series for 2 km with the operating control unit. The development of the robot system may provide a reference for developing future search-and-rescue systems. PMID:29065560
From ships to robots: The social relations of sensing the world ocean.

PubMed

Lehman, Jessica

2018-02-01

The dominant practices of physical oceanography have recently shifted from being based on ship-based ocean sampling and sensing to being based on remote and robotic sensing using satellites, drifting floats and remotely operated and autonomous underwater vehicles. What are the implications of this change for the social relations of oceanographic science? This paper contributes to efforts to address this question, pursuing a situated view of ocean sensing technologies so as to contextualize and analyze new representations of the sea, and interactions between individual scientists, technologies and the ocean. By taking a broad view on oceanography through a 50-year shift from ship-based to remote and robotic sensing, I show the ways in which new technologies may provide an opportunity to fight what Oreskes has called 'ideologies of scientific heroism'. In particular, new sensing relations may emphasize the contributions of women and scientists from less well-funded institutions, as well as the ways in which oceanographic knowledge is always partial and dependent on interactions between nonhuman animals, technologies, and different humans. Thus, I argue that remote and robotic sensing technologies do not simply create more abstracted relations between scientists and the sea, but also may provide opportunities for more equitable scientific practice and refigured sensing relations.
Tools to Perform Local Dense 3D Reconstruction of Shallow Water Seabed ‡

PubMed Central

Avanthey, Loïca; Beaudoin, Laurent; Gademer, Antoine; Roux, Michel

2016-01-01

Tasks such as distinguishing or identifying individual objects of interest require the production of dense local clouds at the scale of these individual objects of interest. Due to the physical and dynamic properties of an underwater environment, the usual dense matching algorithms must be rethought in order to be adaptive. These properties also imply that the scene must be observed at close range. Classic robotized acquisition systems are oversized for local studies in shallow water while the systematic acquisition of data is not guaranteed with divers. We address these two major issues through a multidisciplinary approach. To efficiently acquire on-demand stereoscopic pairs using simple logistics in small areas of shallow water, we devised an agile light-weight dedicated system which is easy to reproduce. To densely match two views in a reliable way, we devised a reconstruction algorithm that automatically accounts for the dynamics, variability and light absorption of the underwater environment. Field experiments in the Mediterranean Sea were used to assess the results. PMID:27196913
Biomimetric sentinel reef structures for optical sensing and communications

NASA Astrophysics Data System (ADS)

Fries, David; Hutcheson, Tim; Josef, Noam; Millie, David; Tate, Connor

2017-05-01

Traditional artificial reef structures are designed with uniform cellular architectures and topologies and do not mimic natural reef forms. Strings and ropes are a proven, common fisheries and mariculture construction element throughout the world and using them as artificial reef scaffolding can enable a diversity of ocean sensing, communications systems including the goal of sentinel reefs. The architecture and packaging of electronics is key to enabling such structures and systems. The distributed sensor reef concept leads toward a demonstrable science-engineering-informed framework for 3D smart habitat designs critical to stock fish development and coastal monitoring and protection. These `nature-inspired' reef infrastructures, can enable novel instrumented `reef observatories' capable of collecting real-time ecosystem data. Embedding lighting and electronic elements into artificial reef systems are the first systems conceptualized. This approach of bringing spatial light to the underwater world for optical sensing, communication and even a new breed of underwater robotic vehicle is an interdisciplinary research activity which integrates principles of electronic packaging, and ocean technology with art/design.
A novel soft biomimetic microrobot with two motion attitudes.

PubMed

Shi, Liwei; Guo, Shuxiang; Li, Maoxun; Mao, Shilian; Xiao, Nan; Gao, Baofeng; Song, Zhibin; Asaka, Kinji

2012-12-06

A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Thanks to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater tasks, even in limited spaces. To accomplish our objectives, we previously designed several bio-inspired underwater microrobots with compact structure, flexibility, and multi-functionality, using ionic polymer metal composite (IPMC) actuators. To implement high-position precision for IPMC legs, in the present research, we proposed an electromechanical model of an IPMC actuator and analysed the deformation and actuating force of an equivalent IPMC cantilever beam, which could be used to design biomimetic legs, fingers, or fins for an underwater microrobot. We then evaluated the tip displacement of an IPMC actuator experimentally. The experimental deflections fit the theoretical values very well when the driving frequency was larger than 1 Hz. To realise the necessary multi-functionality for adapting to complex underwater environments, we introduced a walking biomimetic microrobot with two kinds of motion attitudes: a lying state and a standing state. The microrobot uses eleven IPMC actuators to move and two shape memory alloy (SMA) actuators to change its motion attitude. In the lying state, the microrobot implements stick-insect-inspired walking/rotating motion, fish-like swimming motion, horizontal grasping motion, and floating motion. In the standing state, it implements inchworm-inspired crawling motion in two horizontal directions and grasping motion in the vertical direction. We constructed a prototype of this biomimetic microrobot and evaluated its walking, rotating, and floating speeds experimentally. The experimental results indicated that the robot could attain a maximum walking speed of 3.6 mm/s, a maximum rotational speed of 9°/s, and a maximum floating speed of 7.14 mm/s. Obstacle-avoidance and swimming experiments were also carried out to demonstrate its multi-functionality.
A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

PubMed Central

Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

2015-01-01

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system. PMID:25856331
A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

PubMed

Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

2015-04-08

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

Advanced teleoperation: Technology innovations and applications

NASA Technical Reports Server (NTRS)

Schenker, Paul S.; Bejczy, Antal K.; Kim, Won S.

1994-01-01

The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest.
VEVI: A Virtual Reality Tool For Robotic Planetary Explorations

NASA Technical Reports Server (NTRS)

Piguet, Laurent; Fong, Terry; Hine, Butler; Hontalas, Phil; Nygren, Erik

1994-01-01

The Virtual Environment Vehicle Interface (VEVI), developed by the NASA Ames Research Center's Intelligent Mechanisms Group, is a modular operator interface for direct teleoperation and supervisory control of robotic vehicles. Virtual environments enable the efficient display and visualization of complex data. This characteristic allows operators to perceive and control complex systems in a natural fashion, utilizing the highly-evolved human sensory system. VEVI utilizes real-time, interactive, 3D graphics and position / orientation sensors to produce a range of interface modalities from the flat panel (windowed or stereoscopic) screen displays to head mounted/head-tracking stereo displays. The interface provides generic video control capability and has been used to control wheeled, legged, air bearing, and underwater vehicles in a variety of different environments. VEVI was designed and implemented to be modular, distributed and easily operated through long-distance communication links, using a communication paradigm called SYNERGY.
Think Tanks

NASA Technical Reports Server (NTRS)

2001-01-01

A new inspection robot from Solex Robotics Systems was designed to eliminate hazardous inspections of petroleum and chemical storage tanks. The submersible robot, named Maverick, is used to inspect the bottoms of tanks, keeping the tanks operational during inspection. Maverick is able to provide services that will make manual tank inspections obsolete. While the inspection is conducted, Maverick's remote human operators remain safe outside of the tank. The risk to human health and life is now virtually eliminated. The risk to the environment is also minimal because there is a reduced chance of spillage from emptying and cleaning the tanks, where previously, tons of pollutants were released through the process of draining and refilling.
Dynamic path planning for mobile robot based on particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

In the contemporary, robots are used in many fields, such as cleaning, medical treatment, space exploration, disaster relief and so on. The dynamic path planning of robot without collision is becoming more and more the focus of people's attention. A new method of path planning is proposed in this paper. Firstly, the motion space model of the robot is established by using the MAKLINK graph method. Then the A* algorithm is used to get the shortest path from the start point to the end point. Secondly, this paper proposes an effective method to detect and avoid obstacles. When an obstacle is detected on the shortest path, the robot will choose the nearest safety point to move. Moreover, calculate the next point which is nearest to the target. Finally, the particle swarm optimization algorithm is used to optimize the path. The experimental results can prove that the proposed method is more effective.
Large robotized turning centers described

NASA Astrophysics Data System (ADS)

Kirsanov, V. V.; Tsarenko, V. I.

1985-09-01

The introduction of numerical control (NC) machine tools has made it possible to automate machining in series and small series production. The organization of automated production sections merged NC machine tools with automated transport systems. However, both the one and the other require the presence of an operative at the machine for low skilled operations. Industrial robots perform a number of auxiliary operations, such as equipment loading-unloading and control, changing cutting and auxiliary tools, controlling workpieces and parts, and cleaning of location surfaces. When used with a group of equipment they perform transfer operations between the machine tools. Industrial robots eliminate the need for workers to form auxiliary operations. This underscores the importance of developing robotized manufacturing centers providing for minimal human participation in production and creating conditions for two and three shift operation of equipment. Work carried out at several robotized manufacturing centers for series and small series production is described.
Robotic inspection for vehicle-borne contraband

NASA Astrophysics Data System (ADS)

Witus, Gary; Gerhart, Grant; Smuda, W.; Andrusz, H.

2006-05-01

Vehicle-borne smuggling is widespread because of the availability, flexibility and capacity of the cars and trucks. Inspecting vehicles at border crossings and checkpoints are key security elements. At the present time, most vehicle security inspections at home and abroad are conducted manually. Remotely operated vehicle inspection robots could be integrated into the operating procedures to improve throughput while reducing the workload burden on security personnel. The robotic inspection must be effective at detecting contraband and efficient at clearing the "clean" vehicles that make up the bulk of the traffic stream, while limiting the workload burden on the operators. In this paper, we present a systems engineering approach to robotic vehicle inspection. We review the tactics, techniques and procedures to interdict contraband. We present an operational concept for robotic vehicle inspection within this framework, and identify needed capabilities. We review the technologies currently available to meet these needs. Finally, we summarize the immediate potential and R&D challenges for effective contraband detection robots.
A force-controllable macro-micro manipulator and its application to medical robots

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1994-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.
Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions.

PubMed

Ramos, A G; García-Garrido, V J; Mancho, A M; Wiggins, S; Coca, J; Glenn, S; Schofield, O; Kohut, J; Aragon, D; Kerfoot, J; Haskins, T; Miles, T; Haldeman, C; Strandskov, N; Allsup, B; Jones, C; Shapiro, J

2018-03-15

Transoceanic Gliders are Autonomous Underwater Vehicles (AUVs) for which there is a developing and expanding range of applications in open-seas research, technology and underwater clean transport. Mature glider autonomy, operating depth (0-1000 meters) and low energy consumption without a CO 2 footprint enable evolutionary access across ocean basins. Pursuant to the first successful transatlantic glider crossing in December 2009, the Challenger Mission has opened the door to long-term, long-distance routine transoceanic AUV missions. These vehicles, which glide through the water column between 0 and 1000 meters depth, are highly sensitive to the ocean current field. Consequently, it is essential to exploit the complex space-time structure of the ocean current field in order to plan a path that optimizes scientific payoff and navigation efficiency. This letter demonstrates the capability of dynamical system theory for achieving this goal by realizing the real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider (0-1000 m), that crossed the North Atlantic from April 2016 to March 2017. Path planning in real time based on this approach has facilitated an impressive speed up of the AUV to unprecedented velocities resulting in major battery savings on the mission, offering the potential for routine transoceanic long duration missions.
Diving Deep: A Comparative Study of Educator Undergraduate and Graduate Backgrounds and Their Effect on Student Understanding of Engineering and Engineering Careers, Utilizing an Underwater Robotics Program

NASA Astrophysics Data System (ADS)

Scribner, J. Adam

Numerous studies have demonstrated that educators having degrees in their subjects significantly enhances student achievement, particularly in secondary mathematics and science (Chaney, 1995; Goe, 2007; Rowan, Chiang, & Miller, 1997; Wenglinsky, 2000). Yet, science teachers in states that adopt the Next Generation Science Standards will be facilitating classroom engineering activities despite the fact that few have backgrounds in engineering. This quantitative study analyzed ex-post facto WaterBotics (an innovative underwater robotics curriculum for middle and high school students) data to determine if educators having backgrounds in engineering (i.e., undergraduate and graduate degrees in engineering) positively affected student learning on two engineering outcomes: 1) the engineering design process, and 2) understanding of careers in engineering (who engineers are and what engineers do). The results indicated that educators having backgrounds in engineering did not significantly affect student understanding of the engineering design process or careers in engineering when compared to educators having backgrounds in science, mathematics, technology education, or other disciplines. There were, however, statistically significant differences between the groups of educators. Students of educators with backgrounds in technology education had the highest mean score on assessments pertaining to the engineering design process while students of educators with disciplines outside of STEM had the highest mean scores on instruments that assess for student understanding of careers in engineering. This might be due to the fact that educators who lack degrees in engineering but who teach engineering do a better job of "sticking to the script" of engineering curricula.
Lessons Learned from Pit Viper System Deployment

DOE Office of Scientific and Technical Information (OSTI.GOV)

Catalan, Michael A.; Alzheimer, James M.; Valdez, Patrick LJ

2002-04-11

Tele-operated and robotic systems operated in unstructured field environments pose unique challenges for tool design. Since field tasks are not always well defined and the robot work area usually cannot be designed for ease of operation, the tools must be versatile. It's important to carefully consider the orientation of the grip the robot takes on the tool, as it's not easily changed in the field. The stiffness of the robot and the possibility of robot positioning errors encourages the use of non-contact or minimal-contact tooling. While normal hand tools can usually be modified for use by the robot, this ismore » not always the most effective approach. It's desirable to have tooling that is relatively independent of the robot; in this case, the robot places the tool near the desired work location and the tool performs its task relatively independently. Here we consider the adaptation of a number of tools for cleanup of a radioactively contaminated piping junction and valve pit. The tasks to be considered are debris removal (small nuts and bolts and pipe up to 100 mm in diameter), size reduction, surface cleaning, and support of past practice crane-based methods for working in the pits.« less
Real-time visual mosaicking and navigation on the seafloor

NASA Astrophysics Data System (ADS)

Richmond, Kristof

Remote robotic exploration holds vast potential for gaining knowledge about extreme environments accessible to humans only with great difficulty. Robotic explorers have been sent to other solar system bodies, and on this planet into inaccessible areas such as caves and volcanoes. In fact, the largest unexplored land area on earth lies hidden in the airless cold and intense pressure of the ocean depths. Exploration in the oceans is further hindered by water's high absorption of electromagnetic radiation, which both inhibits remote sensing from the surface, and limits communications with the bottom. The Earth's oceans thus provide an attractive target for developing remote exploration capabilities. As a result, numerous robotic vehicles now routinely survey this environment, from remotely operated vehicles piloted over tethers from the surface to torpedo-shaped autonomous underwater vehicles surveying the mid-waters. However, these vehicles are limited in their ability to navigate relative to their environment. This limits their ability to return to sites with precision without the use of external navigation aids, and to maneuver near and interact with objects autonomously in the water and on the sea floor. The enabling of environment-relative positioning on fully autonomous underwater vehicles will greatly extend their power and utility for remote exploration in the furthest reaches of the Earth's waters---even under ice and under ground---and eventually in extraterrestrial liquid environments such as Europa's oceans. This thesis presents an operational, fielded system for visual navigation of underwater robotic vehicles in unexplored areas of the seafloor. The system does not depend on external sensing systems, using only instruments on board the vehicle. As an area is explored, a camera is used to capture images and a composite view, or visual mosaic, of the ocean bottom is created in real time. Side-to-side visual registration of images is combined with dead-reckoned navigation information in a framework allowing the creation and updating of large, locally consistent mosaics. These mosaics are used as maps in which the vehicle can navigate and localize itself with respect to points in the environment. The system achieves real-time performance in several ways. First, wherever possible, direct sensing of motion parameters is used in place of extracting them from visual data. Second, trajectories are chosen to enable a hierarchical search for side-to-side links which limits the amount of searching performed without sacrificing robustness. Finally, the map estimation is formulated as a sparse, linear information filter allowing rapid updating of large maps. The visual navigation enabled by the work in this thesis represents a new capability for remotely operated vehicles, and an enabling capability for a new generation of autonomous vehicles which explore and interact with remote, unknown and unstructured underwater environments. The real-time mosaic can be used on current tethered vehicles to create pilot aids and provide a vehicle user with situational awareness of the local environment and the position of the vehicle within it. For autonomous vehicles, the visual navigation system enables precise environment-relative positioning and mapping, without requiring external navigation systems, opening the way for ever-expanding autonomous exploration capabilities. The utility of this system was demonstrated in the field at sites of scientific interest using the ROVs Ventana and Tiburon operated by the Monterey Bay Aquarium Research Institute. A number of sites in and around Monterey Bay, California were mosaicked using the system, culminating in a complete imaging of the wreck site of the USS Macon , where real-time visual mosaics containing thousands of images were generated while navigating using only sensor systems on board the vehicle.
Robotic Waterjet System

NASA Technical Reports Server (NTRS)

1996-01-01

NASA needed a way to safely strip old paint and thermal protection material from reusable components from the Space Shuttle; to meet this requirement, Marshall Space Flight Center teamed with United Technologies' USBI Company and developed a stripping system based on hydroblasting. United Technology spun off a new company, Waterjet Systems, to commercialize and market the technology. The resulting ARMS (Automated Robotic Maintenance Systems), employ waterblasts at 55,000 pounds per square inch controlled by target-sensitive robots. The systems are used on aircraft and engine parts, and the newest application is on ships, where it not only strips but catches the ensuing wastewater. This innovation results in faster, cheaper stripping with less clean-up and reduced environmental impact.
A macro-micro robot for precise force applications

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Wang, Yulun

1993-01-01

This paper describes an 8 degree-of-freedom macro-micro robot capable of performing tasks which require accurate force control. Applications such as polishing, finishing, grinding, deburring, and cleaning are a few examples of tasks which need this capability. Currently these tasks are either performed manually or with dedicated machinery because of the lack of a flexible and cost effective tool, such as a programmable force-controlled robot. The basic design and control of the macro-micro robot is described in this paper. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system.
PERSONNEL PROTECTION THROUGH RECONNAISSANCE ROBOTICS AT SUPERFUND REMEDIAL SITES

EPA Science Inventory

Investigation, mitigation, and clean-up of hazardous materials at Superfund sites normally require on-site workers to perform hazardous and sometimes potentially dangerous functions. uch functions include site surveys and the reconnaissance for airborne and buried toxic environme...
DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

EPA Science Inventory

Hazardous and/or tedious functions are often performed by on-site workers during investigation, mitigation and clean-up of hazardous substances. These functions include site surveys, sampling and analysis, excavation, and treatment and preparation of wastes for shipment to chemic...
KSC-03PD-2364

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Researchers conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
Hydrodynamics of an Under-actuated Plesiosaur-inspired robot

NASA Astrophysics Data System (ADS)

Weymouth, Gabriel; Devereux, Kate; Copsey, Nick; Muscutt, Luke; Downes, Jon; Ganapathisubramani, Bharath

2017-11-01

Underwater vehicles are increasingly important tools for use in science and engineering, but maneuverability and mission life seem to be mutually exclusive goals. Inspired by the unique swimming method of the plesiosaur, which used four flippers of essentially equal size and musculature, we analyzed designed and built an underwater vehicle with the potential for both gliding and active maneuvering modes. Using 2D simulations and strip theory approximation to account for the changing arc length along the flipper span, we studied the wake and forces on the foils and determined the optimum flipper geometry, spacing and kinematics. To reduce mechanical and control complexity and cost, we next studied the impact of under-actuated kinematics. Even after optimizing pivot location and range of motion, leaving the foils free to pitch was found to reduce efficiency by approximately 50%. Based on these specifications, the vehicle was built and tested over a range of free swimming and maneuvering cases using motion tracking equipment. The excellent maneuverability of the under-actuated vehicle validates the concept, and the new platform should enable further detailed experimental measurements in the future.
An underwater robo-leader for collective motion studies

NASA Astrophysics Data System (ADS)

Sanchez, Yair; Wilhelmus, Monica M.

2016-11-01

A wide range of aquatic species, from bacteria to large tuna, exhibits collective behavior. It has long been hypothesized that the formation of complex configurations brings an energetic advantage to the members of a group as well as protection against larger predators or harmful agents. Lately, however, laboratory experiments have suggested that both the physics and the behavioral aspects of collective motion yield more complexity than previously attributed. With the goal to understand the fluid mechanical implications behind collective motion in a laboratory setting, we have developed a new device to induce this behavior on demand. Following recent studies of lab-induced vertical migration of Artemia salina, we have designed and constructed a remotely controlled underwater robotic swimmer that acts as a leader for groups of phototactic organisms. Preliminary quantitative flow visualizations done during vertical migration of brine shrimp show that this new instrument does induce collective motion in the laboratory. With this setup, we can address the hydrodynamic effect of having different swarm configurations, a variable that so far has been challenging to study in a controllable and reproducible manner.
Evaluation of teleoperated surgical robots in an enclosed undersea environment.

PubMed

Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

2009-05-01

The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.
Influence of sonication conditions on the efficiency of ultrasonic cleaning with flowing micrometer-sized air bubbles.

PubMed

Tuziuti, Toru

2016-03-01

This paper describes the sizes of cleaned areas under different sonication conditions with the addition of flowing micrometer-sized air bubbles. The differences in the cleaned area of a glass plate pasted with silicon grease as a dirty material under different sonication conditions were investigated after tiny bubbles were blown on the dirty plate placed in an underwater sound field. The ultrasound was applied perpendicular to the bubble flow direction. The shape of the cleaned areas was nearly elliptical, so the lengths of the minor and major axes were measured. The length of the minor axis under sweep conditions (amplitude modulation), for which the average power was lower than that for continuous wave (CW) irradiation, was comparable to that for CW irradiation and was slightly larger than under bubble flow only. Not only the relatively high power for CW irradiation, but also the larger angular change of the bubble flow direction under sweep conditions contributed to the enlargement of the cleaned area in the direction of the minor axis. The combination of bubble flow and sonication under sweep or CW conditions produced a larger cleaned area compared with bubble flow only, although the increase was not higher than 20%. A rapid change from an air to water interface caused by the bubble flow and water jets caused by the collapse of bubbles due to violent pulsation is the main cleaning mechanism under a combination of ultrasound and bubble flow. Copyright © 2015 Elsevier B.V. All rights reserved.

Underwater spark discharge with long transmission line for cleaning horizontal wells

NASA Astrophysics Data System (ADS)

Lee, Kern; Chung, Kyoung-Jae; Hwang, Y. S.; Kim, C. Y.

2017-06-01

A transmission line is discussed for application in an underwater spark-discharge technique in the cleaning of a horizontal well by incorporating a power-transmission model into the simulation. The pulsed-spark-discharge technique has been proposed for clogged-well rehabilitation, because it removes incrustations that are attached to well screens by using strong pressure waves that are generated by the rapid expansion of a spark channel. To apply the pulsed-spark-discharge technique to the cleaning of horizontal wells, the coaxial cable between the pulsed power supply and the spark gap as a load needs to be extended to a few hundred meters. Prior to field application, pulsed-spark-discharge experiments were conducted and the role of the transmission line was examined using an improved simulation model. In the model, a non-linear interaction of the spark channel and the capacitor bank is described by the pulse-forming action of the coaxial cable. Based on the accurate physical properties of the water plasma, such as the equation of state and electrical conductivity within the region of interest, the amount of energy contributed to the development of a shock wave was evaluated. The simulation shows that if the initial conditions of the spark channel are the same, no further reduction in strength of the pressure wave occurs, even if the cable length is increased above 50 m. Hence, the degraded peak pressure that was observed in the experiments using the longer cable is attributed to a change in the initial condition of the spark channel. The parametric study suggests that the low initial charging voltage, the high ambient water pressure, and the long cable length yield the low initial spark-channel density, which results in a reduced peak pressure. The simulation of line charging is presented to discuss the principle of disturbing the pre-breakdown process by an extended cable.
Final Report, University Research Program in Robotics (URPR), Nuclear Facilities Clean-up

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tesar, Delbert; Kapoor, Chetan; Pryor, Mitch

This final report describes the research activity at the University of Texas at Austin with application to EM needs at DOE. This research activity is divided in to two major thrusts and contributes to the overall University Research Program in Robotics (URPR) thrust by providing mechanically oriented robotic solutions based on modularity and generalized software. These thrusts are also the core strengths of the UTA program that has a 40-year history in machine development, 30 years specifically devoted to robotics. Since 1975, much of this effort has been to establish the general analytical and design infrastructure for an open (modular)more » architecture of systems with many degrees of freedom that are able to satisfy a broad range of applications for future production machines. This work has coalesced from two principal areas: standardized actuators and generalized software.« less
Automated carbon dioxide cleaning system

NASA Technical Reports Server (NTRS)

Hoppe, David T.

1991-01-01

Solidified CO2 pellets are an effective blast media for the cleaning of a variety of materials. CO2 is obtained from the waste gas streams generated from other manufacturing processes and therefore does not contribute to the greenhouse effect, depletion of the ozone layer, or the environmental burden of hazardous waste disposal. The system is capable of removing as much as 90 percent of the contamination from a surface in one pass or to a high cleanliness level after multiple passes. Although the system is packaged and designed for manual hand held cleaning processes, the nozzle can easily be attached to the end effector of a robot for automated cleaning of predefined and known geometries. Specific tailoring of cleaning parameters are required to optimize the process for each individual geometry. Using optimum cleaning parameters the CO2 systems were shown to be capable of cleaning to molecular levels below 0.7 mg/sq ft. The systems were effective for removing a variety of contaminants such as lubricating oils, cutting oils, grease, alcohol residue, biological films, and silicone. The system was effective on steel, aluminum, and carbon phenolic substrates.
Testing animal-assisted cleaning prior to transplantation in coral reef restoration.

PubMed

Frias-Torres, Sarah; van de Geer, Casper

2015-01-01

Rearing coral fragments in nurseries and subsequent transplantation onto a degraded reef is a common approach for coral reef restoration. However, if barnacles and other biofouling organisms are not removed prior to transplantation, fish will dislodge newly cemented corals when feeding on biofouling organisms. This behavior can lead to an increase in diver time due to the need to reattach the corals. Thus, cleaning nurseries to remove biofouling organisms such as algae and invertebrates is necessary prior to transplantation, and this cleaning constitutes a significant time investment in a restoration project. We tested a novel biomimicry technique of animal-assisted cleaning on nursery corals prior to transplantation at a coral reef restoration site in Seychelles, Indian Ocean. To determine whether animal-assisted cleaning was possible, preliminary visual underwater surveys were performed to quantify the fish community at the study site. Then, cleaning stations consisting of nursery ropes carrying corals and biofouling organisms, set at 0.3 m, 2 m, 4 m, 6 m and 8 m from the seabed, were placed at both the transplantation (treatment) site and the nursery (control) site. Remote GoPro video cameras recorded fish feeding at the nursery ropes without human disturbance. A reef fish assemblage of 32 species from 4 trophic levels (18.8% herbivores, 18.8% omnivores, 59.3% secondary consumers and 3.1% carnivores) consumed 95% of the barnacles on the coral nursery ropes placed 0.3 m above the seabed. Using this cleaning station, we reduced coral dislodgement from 16% to zero. This cleaning station technique could be included as a step prior to coral transplantation worldwide on the basis of location-specific fish assemblages and during the early nursery phase of sexually produced juvenile corals.
Testing animal-assisted cleaning prior to transplantation in coral reef restoration

PubMed Central

van de Geer, Casper

2015-01-01

Rearing coral fragments in nurseries and subsequent transplantation onto a degraded reef is a common approach for coral reef restoration. However, if barnacles and other biofouling organisms are not removed prior to transplantation, fish will dislodge newly cemented corals when feeding on biofouling organisms. This behavior can lead to an increase in diver time due to the need to reattach the corals. Thus, cleaning nurseries to remove biofouling organisms such as algae and invertebrates is necessary prior to transplantation, and this cleaning constitutes a significant time investment in a restoration project. We tested a novel biomimicry technique of animal-assisted cleaning on nursery corals prior to transplantation at a coral reef restoration site in Seychelles, Indian Ocean. To determine whether animal-assisted cleaning was possible, preliminary visual underwater surveys were performed to quantify the fish community at the study site. Then, cleaning stations consisting of nursery ropes carrying corals and biofouling organisms, set at 0.3 m, 2 m, 4 m, 6 m and 8 m from the seabed, were placed at both the transplantation (treatment) site and the nursery (control) site. Remote GoPro video cameras recorded fish feeding at the nursery ropes without human disturbance. A reef fish assemblage of 32 species from 4 trophic levels (18.8% herbivores, 18.8% omnivores, 59.3% secondary consumers and 3.1% carnivores) consumed 95% of the barnacles on the coral nursery ropes placed 0.3 m above the seabed. Using this cleaning station, we reduced coral dislodgement from 16% to zero. This cleaning station technique could be included as a step prior to coral transplantation worldwide on the basis of location-specific fish assemblages and during the early nursery phase of sexually produced juvenile corals. PMID:26468440
A historical perspective of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Herndon, J.N.

1992-12-31

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. The technology which we recognize today as remote technology has evolved over the last 45 years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety.more » The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed largely due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Manipulation systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Viewing systems have included periscopes, shield windows, and television systems. Experience over the past 45 years indicates that maintenance system flexibility is essential to typical repair tasks because they are usually not repetitive, structured, or planned. Fully remote design (manipulation, task provisions, remote tooling, and facility synergy) is essential to work task efficiency. Work for space applications has been primarily research oriented with relatively few successful space applications, although the shuttle`s remote manipulator system has been quite successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus.« less
Developing Web-based Tools for Collaborative Science and Public Outreach

NASA Astrophysics Data System (ADS)

Friedman, A.; Pizarro, O.; Williams, S. B.

2016-02-01

With the advances in high bandwidth communications and the proliferation of social media tools, education & outreach activities have become commonplace on ocean-bound research cruises. In parallel, advances in underwater robotics & other data collecting platforms, have made it possible to collect copious amounts of oceanographic data. This data then typically undergoes laborious, manual processing to transform it into quantitative information, which normally occurs post cruise resulting in significant lags between collecting data and using it for scientific discovery. This presentation discusses how appropriately designed software systems, can be used to fulfill multiple objectives and attempt to leverage public engagement in order to compliment science goals. We will present two software platforms: the first is a web browser based tool that was developed for real-time tracking of multiple underwater robots and ships. It was designed to allow anyone on board to view or control it on any device with a web browser. It opens up the possibility of remote teleoperation & engagement and was easily adapted to enable live streaming over the internet for public outreach. While the tracking system provided context and engaged people in real-time, it also directed interested participants to Squidle, another online system. Developed for scientists, Squidle supports data management, exploration & analysis and enables direct access to survey data reducing the lag in data processing. It provides a user-friendly streamlined interface that integrates advanced data management & online annotation tools. This system was adapted to provide a simplified user interface, tutorial instructions and a gamified ranking system to encourage "citizen science" participation. These examples show that through a flexible design approach, it is possible to leverage the development effort of creating science tools to facilitate outreach goals, opening up the possibility for acquiring large volumes of crowd-sourced data without compromising science objectives.
Technology Advances Enabling a New Class of Hybrid Underwater Vehicles

NASA Astrophysics Data System (ADS)

Bowen, A.

2016-02-01

Both tethered (ROV) and untethered (AUV) systems have proven to be highly valuable tools for a range of application undersea. Certain enabling technologies coupled with recent advances in robotic systems make it possible to consider supplementing many of the functions performed by these platforms with appropriately designed semi-autonomous vehicles that may be less expensive operate than traditional deep-water ROVs. Such vehicles can be deployed from smaller ships and may lead to sea-floor resident systems able to perform a range of interventions under direct human control when required. These systems are effectively a hybrid cross between ROV and AUV vehicles and poised to enable an important new class of undersea vehicle. It is now possible to radically redefine the meaning of the words "tethered vehicle" to include virtual tethering via acoustic and optical means or through the use of small diameter re-useable tethers, providing not power but only high bandwidth communications. The recent developments at Woods Hole Oceanographic Institution (WHOI), paves the way for a derivative vehicle type able to perform a range of interventions in deep water. Such battery-powered, hybrid-tethered vehicles will be able to perform tasks that might otherwise require a conventional ROV. These functions will be possible from less complex ships because of a greatly reduced dependence on large, heavy tethers and associated vehicle handling equipment. In certain applications, such vehicles can be resident within subsea facilities, able to provide operators with near instant access when required. Several key emerging technologies and capabilities make such a vehicle possible. Advances in both acoustic and optical "wireless" underwater communications and mico-tethers as pioneered by the HROV Nereus offer the potential to transform ROV type operations and thus offer planners and designers an important new dimension to subsea robotic intervention
Three-dimensional time reversal communications in elastic media

DOE PAGES

Anderson, Brian E.; Ulrich, Timothy J.; Le Bas, Pierre-Yves; ...

2016-02-23

Our letter presents a series of vibrational communication experiments, using time reversal, conducted on a set of cast iron pipes. Time reversal has been used to provide robust, private, and clean communications in many underwater acoustic applications. Also, the use of time reversal to communicate along sections of pipes and through a wall is demonstrated here in order to overcome the complications of dispersion and multiple scattering. These demonstrations utilize a single source transducer and a single sensor, a triaxial accelerometer, enabling multiple channels of simultaneous communication streams to a single location.
Close-range sensors for small unmanned bottom vehicles: update

NASA Astrophysics Data System (ADS)

Bernstein, Charles L.

2000-07-01

The Surf Zone Reconnaissance Project is developing sensors for small, autonomous, Underwater Bottom-crawling Vehicles. The objective is to enable small, crawling robots to autonomously detect and classify mines and obstacles on the ocean bottom in depths between 0 and 10 feet. We have identified a promising set of techniques that will exploit the electromagnetic, shape, texture, image, and vibratory- modal features of this images. During FY99 and FY00 we have worked toward refining these techniques. Signature data sets have been collected for a standard target set to facilitate the development of sensor fusion and target detection and classification algorithms. Specific behaviors, termed microbehaviors, are developed to utilize the robot's mobility to position and operate the sensors. A first generation, close-range sensor suite, composed of 5 sensors, will be completed and tested on a crawling platform in FY00, and will be further refined and demonstrated in FY01 as part of the Mine Countermeasures 6.3 core program sponsored by the Office of Naval Research.
Technical Tension Between Achieving Particulate and Molecular Organic Environmental Cleanliness: Data from Astromaterial Curation Laboratories

NASA Technical Reports Server (NTRS)

Allton, J. H.; Burkett, P. J.

2011-01-01

NASA Johnson Space Center operates clean curation facilities for Apollo lunar, Antarctic meteorite, stratospheric cosmic dust, Stardust comet and Genesis solar wind samples. Each of these collections is curated separately due unique requirements. The purpose of this abstract is to highlight the technical tensions between providing particulate cleanliness and molecular cleanliness, illustrated using data from curation laboratories. Strict control of three components are required for curating samples cleanly: a clean environment; clean containers and tools that touch samples; and use of non-shedding materials of cleanable chemistry and smooth surface finish. This abstract focuses on environmental cleanliness and the technical tension between achieving particulate and molecular cleanliness. An environment in which a sample is manipulated or stored can be a room, an enclosed glovebox (or robotic isolation chamber) or an individual sample container.
Fusion of nacre, mussel, and lotus leaf: bio-inspired graphene composite paper with multifunctional integration.

PubMed

Zhong, Da; Yang, Qinglin; Guo, Lin; Dou, Shixue; Liu, Kesong; Jiang, Lei

2013-07-07

Multifunctional integration is an inherent characteristic for biological materials with multiscale structures. Learning from nature is an effective approach for scientists and engineers to construct multifunctional materials. In nature, mollusks (abalone), mussels, and the lotus have evolved different and optimized solutions to survive. Here, bio-inspired multifunctional graphene composite paper was fabricated in situ through the fusion of the different biological solutions from nacre (brick-and-mortar structure), mussel adhesive protein (adhesive property and reducing character), and the lotus leaf (self-cleaning effect). Owing to the special properties (self-polymerization, reduction, and adhesion), dopamine could be simultaneously used as a reducing agent for graphene oxide and as an adhesive, similar to the mortar in nacre, to crosslink the adjacent graphene. The resultant nacre-like graphene paper exhibited stable superhydrophobicity, self-cleaning, anti-corrosion, and remarkable mechanical properties underwater.
The growth of oscillating bubbles in an ultrasound field

NASA Astrophysics Data System (ADS)

Yamauchi, Risa; Yamashita, Tatsuya; Ando, Keita

2017-11-01

From our recent experiments to test particle removal by underwater ultrasound, dissolved gas supersaturation is found to play an important role in physical cleaning; cavitation bubble nucleation can be triggered easily by weak ultrasound under the supersaturation and mild motion of the bubbles contributes to efficient cleaning without erosion. The state of gas bubble nuclei in water is critical to the determination of a cavitation inception threshold. Under ultrasound forcing, the size of bubble nuclei is varied by the transfer of dissolved gas (i.e., rectified diffusion); the growth rate will be promoted by the supersaturation and is thus expected to contribute to cavitation activity enhancement. In the present work, we experimentally study rectified diffusion for bubbles attached at glass surfaces in an ultrasound field. We will present the evolution of bubble nuclei sizes with varying parameters such as dissolved oxygen supersaturation, and ultrasound intensity and frequency. the Research Grant of Keio Leading-edge Laboratory of Science & Technology.
Land, sea, and air unmanned systems research and development at SPAWAR Systems Center Pacific

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Laird, Robin; Kogut, Greg; Andrews, John; Fletcher, Barbara; Webber, Todd; Arrieta, Rich; Everett, H. R.

2009-05-01

The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-takeoff- and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas.
How simple autonomous decisions evolve into robust behaviours? A review from neurorobotics, cognitive, self-organized and artificial immune systems fields.

PubMed

Fernandez-Leon, Jose A; Acosta, Gerardo G; Rozenfeld, Alejandro

2014-10-01

Researchers in diverse fields, such as in neuroscience, systems biology and autonomous robotics, have been intrigued by the origin and mechanisms for biological robustness. Darwinian evolution, in general, has suggested that adaptive mechanisms as a way of reaching robustness, could evolve by natural selection acting successively on numerous heritable variations. However, is this understanding enough for realizing how biological systems remain robust during their interactions with the surroundings? Here, we describe selected studies of bio-inspired systems that show behavioral robustness. From neurorobotics, cognitive, self-organizing and artificial immune system perspectives, our discussions focus mainly on how robust behaviors evolve or emerge in these systems, having the capacity of interacting with their surroundings. These descriptions are twofold. Initially, we introduce examples from autonomous robotics to illustrate how the process of designing robust control can be idealized in complex environments for autonomous navigation in terrain and underwater vehicles. We also include descriptions of bio-inspired self-organizing systems. Then, we introduce other studies that contextualize experimental evolution with simulated organisms and physical robots to exemplify how the process of natural selection can lead to the evolution of robustness by means of adaptive behaviors. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.
Undulating fins produce off-axis thrust and flow structures.

PubMed

Neveln, Izaak D; Bale, Rahul; Bhalla, Amneet Pal Singh; Curet, Oscar M; Patankar, Neelesh A; MacIver, Malcolm A

2014-01-15

While wake structures of many forms of swimming and flying are well characterized, the wake generated by a freely swimming undulating fin has not yet been analyzed. These elongated fins allow fish to achieve enhanced agility exemplified by the forward, backward and vertical swimming capabilities of knifefish, and also have potential applications in the design of more maneuverable underwater vehicles. We present the flow structure of an undulating robotic fin model using particle image velocimetry to measure fluid velocity fields in the wake. We supplement the experimental robotic work with high-fidelity computational fluid dynamics, simulating the hydrodynamics of both a virtual fish, whose fin kinematics and fin plus body morphology are measured from a freely swimming knifefish, and a virtual rendering of our robot. Our results indicate that a series of linked vortex tubes is shed off the long edge of the fin as the undulatory wave travels lengthwise along the fin. A jet at an oblique angle to the fin is associated with the successive vortex tubes, propelling the fish forward. The vortex structure bears similarity to the linked vortex ring structure trailing the oscillating caudal fin of a carangiform swimmer, though the vortex rings are distorted because of the undulatory kinematics of the elongated fin.
Acceptance and perceived usefulness of robots to assist with activities of daily living and healthcare tasks.

PubMed

Hall, Amanda K; Backonja, Uba; Painter, Ian; Cakmak, Maya; Sung, Minjung; Lau, Timothy; Thompson, Hilaire J; Demiris, George

2017-11-29

As the number of older adults living with chronic conditions continues to rise, they will require assistance with activities of daily living (ADL) and healthcare tasks to continue living independently in their homes. One proposed solution to assist with the care needs of an aging population and a shrinking healthcare workforce is robotic technology. Using a cross-sectional survey design, we purposively sampled adults (≥18 years old) to assess generational acceptance and perceived usefulness of robots to assist with ADLs, healthcare tasks, and evaluate acceptance of robotic healthcare assistance across different settings. A total of 499 adults (age range [years] 18-98, Mean = 38.7, SD = 22.7) responded to the survey. Significant differences were found among young, middle-aged, and older adults on perceived usefulness of robots for cleaning, escorting them around town, acting as companionship, delivering meals, assessing sadness and calling for help, providing medical advice, taking vital sign assessments, and assisting with personal care (p < 0.05). The majority of younger adults reported that they would like a robot to provide healthcare assistance in the hospital, compared to middle-aged and older adults (p < 0.001). Results of this study can guide the design of robots to assist adults of all ages with useful tasks.
KSC-03pd1389

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A view inside the pilot house of the Liberty Star. The ship is taking part in an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. The banks are a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1390

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - The Liberty Star makes its way along the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The ship is taking part in an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. Equipment being used for the research includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
Fundamentals and advances in the development of remote welding fabrication systems

NASA Technical Reports Server (NTRS)

Agapakis, J. E.; Masubuchi, K.; Von Alt, C.

1986-01-01

Operational and man-machine issues for welding underwater, in outer space, and at other remote sites are investigated, and recent process developments are described. Probable remote welding missions are classified, and the essential characteristics of fundamental remote welding tasks are analyzed. Various possible operational modes for remote welding fabrication are identified, and appropriate roles for humans and machines are suggested. Human operator performance in remote welding fabrication tasks is discussed, and recent advances in the development of remote welding systems are described, including packaged welding systems, stud welding systems, remotely operated welding systems, and vision-aided remote robotic welding and autonomous welding systems.

The role of laser technology in materials processing and nondestructive testing in the 21st century

NASA Astrophysics Data System (ADS)

Sheinberg, B. M.

Some of the potential applications of laser technology in the 21st century are explored, and the proposed role of this technology in relation to materials processing, nondestructive testing, and quality control are discussed. Examples illustrating the implementation of this techology include the proposed construction of vehicles and platforms in near and deep space, and construction of underwater platforms. The direction in which today's technology should evolve to pursue the achievement of such goals is indicated. Included in the discussion is an evaluation of laser, robotics, and fiber optics technologies with respect to their ability to achieve a synergistic level of operation.
KSC-03PD-2379

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Researchers are positioned on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2365

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Researchers utilize several types of watercraft to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2376

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Researchers are positioned on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2366

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Researchers utilize several types of watercraft to conduct underwater acoustic research in the Launch Complex 39 turn basin near Launch Pad 39A. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
Control Automation in Undersea Search and Manipulation

NASA Technical Reports Server (NTRS)

Weltman, Gershon; Freedy, Amos

1974-01-01

Automatic decision making and control mechanisms of the type termed "adaptive" or "intelligent" offer unique advantages for exploration and manipulation of the undersea environment, particularly at great depths. Because they are able to carry out human-like functions autonomously, such mechanisms can aid and extend the capabilities of the human operator. This paper reviews past and present work in the areas of adaptive control and robotics with the purpose of establishing logical guidelines for the application of automatic techniques underwater. Experimental research data are used to illustrate the importance of information feedback, personnel training, and methods of control allocation in the interaction between operator and intelligent machine.
Energy Expenditure of Trotting Gait Under Different Gait Parameters

NASA Astrophysics Data System (ADS)

Chen, Xian-Bao; Gao, Feng

2017-07-01

Robots driven by batteries are clean, quiet, and can work indoors or in space. However, the battery endurance is a great problem. A new gait parameter design energy saving strategy to extend the working hours of the quadruped robot is proposed. A dynamic model of the robot is established to estimate and analyze the energy expenditures during trotting. Given a trotting speed, optimal stride frequency and stride length can minimize the energy expenditure. However, the relationship between the speed and the optimal gait parameters is nonlinear, which is difficult for practical application. Therefore, a simplified gait parameter design method for energy saving is proposed. A critical trotting speed of the quadruped robot is found and can be used to decide the gait parameters. When the robot is travelling lower than this speed, it is better to keep a constant stride length and change the cycle period. When the robot is travelling higher than this speed, it is better to keep a constant cycle period and change the stride length. Simulations and experiments on the quadruped robot show that by using the proposed gait parameter design approach, the energy expenditure can be reduced by about 54% compared with the 100 mm stride length under 500 mm/s speed. In general, an energy expenditure model based on the gait parameter of the quadruped robot is built and the trotting gait parameters design approach for energy saving is proposed.
Robot arm apparatus

DOEpatents

Nachbar, Henry D.

1992-12-01

A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.
Robot arm apparatus

DOEpatents

Nachbar, Henry D.

1992-01-01

A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.
Design and control of a macro-micro robot for precise force applications

NASA Technical Reports Server (NTRS)

Wang, Yulun; Mangaser, Amante; Laby, Keith; Jordan, Steve; Wilson, Jeff

1993-01-01

Creating a robot which can delicately interact with its environment has been the goal of much research. Primarily two difficulties have made this goal hard to attain. The execution of control strategies which enable precise force manipulations are difficult to implement in real time because such algorithms have been too computationally complex for available controllers. Also, a robot mechanism which can quickly and precisely execute a force command is difficult to design. Actuation joints must be sufficiently stiff, frictionless, and lightweight so that desired torques can be accurately applied. This paper describes a robotic system which is capable of delicate manipulations. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system. Delicate force tasks such as polishing, finishing, cleaning, and deburring, are the target applications of the robot.
Solar panel cleaning robot

NASA Astrophysics Data System (ADS)

Nalladhimmu, Pavan Kumar Reddy; Priyadarshini, S.

2018-04-01

As the demand of electricity is increasing, there is need to using the renewable sources to produce the energy at present of power shortage, the use of solar energy could be beneficial to great extent and easy to get the maximum efficiency. There is an urgent in improving the efficiency of solar power generation. Current solar panels setups take a major power loss when unwanted obstructions cover the surface of the panels. To make solar energy more efficiency of solar array systems must be maximized efficiency evaluation of PV panels, that has been discussed with particular attention to the presence of dust on the efficiency of the PV panels have been highlighted. This paper gives the how the solar panel cleaning system works and designing of the cleaning system.
Synthesis of ‘reactive’ and covalent polymeric multilayer coatings with durable superoleophobic and superoleophilic properties under water† †Electronic supplementary information (ESI) available: Fig. S1–S15 accounting the growth of NC with and without the LbL deposition process, detailed comparisons of the multilayers of BPEI and NC, the change in the underwater oil-wettability with increasing deposition cycles of NC, the change in the optical transparency of the multilayers under water, the underwater oil-wettability of various model oils on post-modified multilayers of NC, bouncing of oil droplets underwater, the change in adhesive interactions with LbL deposition of NC, beading and wetting of oil droplets on post-modified multilayers under water, the effect of heating, freezing, and chemical and physical insults on the oil-wettability of the multilayers under water, LbL coating of various substrates, the guided transfer of oil droplets under water and the cleaning of oil using superoleophilic cotton under water. See DOI: 10.1039/c7sc01055a Click here for additional data file.

PubMed Central

Parbat, Dibyangana

2017-01-01

Bioinspired underwater super-oil-wettability (superoleophilic/superoleophobic) properties are emerging as a potential avenue for developing smart materials for addressing issues related to healthcare, environment, energy, etc. However, the inherent poor durability of the materials that are mostly developed using polymeric hydrogel, metal oxide coatings and electrostatic multilayers often challenges the application of these wettability properties in practical scenarios. Here, ‘amine-reactive’ polymeric multilayers of nano-complex were developed to fabricate ‘internal’ underwater superoleophobic/superoleophilic coatings with impeccable physical/chemical durability. This allows the super-wetting properties to exist beyond the surface of the material and remain intact even after severe physical damage including erosion of the material and continuous exposure to an artificial-marine environment for more than 80 days. Moreover, this current design allowed for independent revalidation of some key hypotheses with direct experimental demonstrations, and provided a basis to develop highly durable super-oil-wettability properties under water. It is believed that this contemporary study will make a worthwhile contribution on developing multifunctional materials for widespread practical applications by exploiting these super-oil-wetting properties. PMID:28989639
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007137 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007154 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007165 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007123 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007128 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007129 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
STS-119 Extravehicular Activity (EVA) 3 Clean-Up OPS

NASA Image and Video Library

2009-03-23

S119-E-007134 (23 March 2009) --- Astronaut Joseph Acaba, STS-119 mission specialist, participates in the mission's third scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the six-hour, 27-minute spacewalk, Acaba and Richard Arnold (out of frame), mission specialist, helped robotic arm operators relocate the Crew Equipment Translation Aid (CETA) cart from the Port 1 to Starboard 1 truss segment, installed a new coupler on the CETA cart, lubricated snares on the "B" end of the space station's robotic arm and performed a few "get ahead" tasks.
Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line.

PubMed

DeVries, Levi; Lagor, Francis D; Lei, Hong; Tan, Xiaobo; Paley, Derek A

2015-03-25

Bio-inspired sensing modalities enhance the ability of autonomous vehicles to characterize and respond to their environment. This paper concerns the lateral line of cartilaginous and bony fish, which is sensitive to fluid motion and allows fish to sense oncoming flow and the presence of walls or obstacles. The lateral line consists of two types of sensing modalities: canal neuromasts measure approximate pressure gradients, whereas superficial neuromasts measure local flow velocities. By employing an artificial lateral line, the performance of underwater sensing and navigation strategies is improved in dark, cluttered, or murky environments where traditional sensing modalities may be hindered. This paper presents estimation and control strategies enabling an airfoil-shaped unmanned underwater vehicle to assimilate measurements from a bio-inspired, multi-modal artificial lateral line and estimate flow properties for feedback control. We utilize potential flow theory to model the fluid flow past a foil in a uniform flow and in the presence of an upstream obstacle. We derive theoretically justified nonlinear estimation strategies to estimate the free stream flowspeed, angle of attack, and the relative position of an upstream obstacle. The feedback control strategy uses the estimated flow properties to execute bio-inspired behaviors including rheotaxis (the tendency of fish to orient upstream) and station-holding (the tendency of fish to position behind an upstream obstacle). A robotic prototype outfitted with a multi-modal artificial lateral line composed of ionic polymer metal composite and embedded pressure sensors experimentally demonstrates the distributed flow sensing and closed-loop control strategies.

Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain.

PubMed

Li, Chen; Pullin, Andrew O; Haldane, Duncan W; Lam, Han K; Fearing, Ronald S; Full, Robert J

2015-06-22

Many animals, modern aircraft, and underwater vehicles use fusiform, streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through cluttered terrain where three-dimensional, multi-component obstacles like grass, shrubs, vines, and leaf litter also resist motion, but it is unknown whether their body shape plays a major role in traversal. Few ground vehicles or terrestrial robots have used body shape to more effectively traverse environments such as cluttered terrain. Here, we challenged forest-floor-dwelling discoid cockroaches (Blaberus discoidalis) possessing a thin, rounded body to traverse tall, narrowly spaced, vertical, grass-like compliant beams. Animals displayed high traversal performance (79 ± 12% probability and 3.4 ± 0.7 s time). Although we observed diverse obstacle traversal strategies, cockroaches primarily (48 ± 9% probability) used a novel roll maneuver, a form of natural parkour, allowing them to rapidly traverse obstacle gaps narrower than half their body width (2.0 ± 0.5 s traversal time). Reduction of body roundness by addition of artificial shells nearly inhibited roll maneuvers and decreased traversal performance. Inspired by this discovery, we added a thin, rounded exoskeletal shell to a legged robot with a nearly cuboidal body, common to many existing terrestrial robots. Without adding sensory feedback or changing the open-loop control, the rounded shell enabled the robot to traverse beam obstacles with gaps narrower than shell width via body roll. Such terradynamically 'streamlined' shapes can reduce terrain resistance and enhance traversability by assisting effective body reorientation via distributed mechanical feedback. Our findings highlight the need to consider body shape to improve robot mobility in real-world terrain often filled with clutter, and to develop better locomotor-ground contact models to understand interaction with 3D, multi-component terrain.
Implementation issues for a compact 6 degree of freedom force reflecting handcontroller with cueing of modes

NASA Technical Reports Server (NTRS)

Jacobus, Heidi; Riggs, Alan J.; Jacobus, Charles; Weinstein, Yechiel

1991-01-01

Teleoperated control requires a master human interface device that can provide haptic input and output which reflect the responses of a slave robotic system. The effort reported in this paper addresses the design and prototyping of a six degree-of-freedom (DOF) Cartesian coordinate hand controller for this purpose. The device design recommended is an XYZ stage attached to a three-roll wrist which positions a flight-type handgrip. Six degrees of freedom are transduced and control brushless DC motor servo electronics similar in design to those used in computer controlled robotic manipulators. This general approach supports scaled force, velocity, and position feedback to aid an operator in achieving telepresence. The generality of the device and control system characteristics allow the use of inverse dynamics robotic control methodology to project slave robot system forces and inertias to the operator (in scaled form) and at the same time to reduce the apparent inertia of the robotic handcontroller itself. The current control design, which is not multiple fault tolerant, can be extended to make flight control or space use possible. The proposed handcontroller will have advantages in space-based applications where an operator must control several robot arms in a simultaneous and coordinated fashion. It will also have applications in intravehicular activities (within the Space Station) such as microgravity experiments in metallurgy and biological experiments that require isolation from the astronauts' environment. For ground applications, the handcontroller will be useful in underwater activities where the generality of the proposed handcontroller becomes an asset for operation of many different manipulator types. Also applications will emerge in the Military, Construction, and Maintenance/Manufacturing areas including ordnance handling, mine removal, NBC (Nuclear, Chemical, Biological) operations, control of vehicles, and operating strength and agility enhanced machines. Future avionics applications including advanced helicopter and aircraft control may also become important.
Fish biorobotics: kinematics and hydrodynamics of self-propulsion.

PubMed

Lauder, George V; Anderson, Erik J; Tangorra, James; Madden, Peter G A

2007-08-01

As a result of years of research on the comparative biomechanics and physiology of moving through water, biologists and engineers have made considerable progress in understanding how animals moving underwater use their muscles to power movement, in describing body and appendage motion during propulsion, and in conducting experimental and computational analyses of fluid movement and attendant forces. But it is clear that substantial future progress in understanding aquatic propulsion will require new lines of attack. Recent years have seen the advent of one such new avenue that promises to greatly broaden the scope of intellectual opportunity available to researchers: the use of biorobotic models. In this paper we discuss, using aquatic propulsion in fishes as our focal example, how using robotic models can lead to new insights in the study of aquatic propulsion. We use two examples: (1) pectoral fin function, and (2) hydrodynamic interactions between dorsal and caudal fins. Pectoral fin function is characterized by considerable deformation of individual fin rays, as well as spanwise (along the length) and chordwise (across the fin) deformation and area change. The pectoral fin can generate thrust on both the outstroke and instroke. A robotic model of the pectoral fin replicates this result, and demonstrates the effect of altering stroke kinematics on the pattern of force production. The soft dorsal fin of fishes sheds a distinct vortex wake that dramatically alters incoming flow to the tail: the dorsal fin and caudal fin act as dual flapping foils in series. This design can be replicated with a dual-foil flapping robotic device that demonstrates this phenomenon and allows examination of regions of the flapping performance space not available to fishes. We show how the robotic flapping foil device can also be used to better understand the significance of flexible propulsive surfaces for locomotor performance. Finally we emphasize the utility of self-propelled robotic devices as a means of understanding how locomotor forces are generated, and review different conceptual designs for robotic models of aquatic propulsion.
Computer-controlled wall servicing robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lefkowitz, S.

1995-03-01

After four years of cooperative research, Pentek has unveiled a new robot with the capability to automatically deliver a variety of cleaning, painting, inspection, and surveillance devices to large vertical surfaces. The completely computer-controlled robot can position a working tool on a 50-foot tall by 50-foot wide vertical surface with a repeatability of 1/16 inch. The working end can literally {open_quotes}fly{close_quotes} across the face of a wall at speed of 60 per minute, and can handle working loads of 350 pounds. The robot was originally developed to decontaminate the walls of reactor fueling cavities at commercial nuclear power plants duringmore » fuel outages. If these cavities are left to dry after reactor refueling, contamination present in the residue could later become airborne and move throughout the containment building. Decontaminating the cavity during the refueling outage reduces the need for restrictive personal protective equipment during plant operations to limit the dose rates.« less
WaterBotics: Pooling Students to STEM

NASA Astrophysics Data System (ADS)

Stambaugh, Beverly

2015-04-01

The STEM workforce of the future is sitting in today's K-12 classrooms, attending summer camps, and participating in after-school programs. How do we attract more youth -- particularly those currently underrepresented in STEM fields such as girls and minorities -- to explore the marvels of engineering and science? How do we entice them to become active participants - not merely witnesses - in the creation of solutions for our global neighborhood's greatest challenges, from environmental cleanup, to safe and efficient energy production, to improvements in healthcare? The WaterBotics program is one vehicle that has demonstrated success in engaging young learners. This underwater robotics program is designed to provide hands-on experiences for middle and high school age youth to engineering design, information technology tools, and science concepts, and to increase awareness and interest in engineering and IT careers. Middle and high school participants demonstrate increased enjoyment in studying science and engineering and interest in STEM careers as a result of WaterBotics. Such results can be seen from a statewide initiative that reached more than 2,600 middle and high school students in New Jersey in 2006-09 where student learning of science concepts and programming increased (McGrath et al, 2009, 2008). These findings provide the impetus to expand the WaterBotics program nationally. The curriculum can be used either in traditional classroom settings or in after-school and summer-camp settings. This problem-based program requires teams of students to work together to design, build, test, and redesign underwater robots, or "bots" made of LEGO® and other components. Students use the NXT and LEGO Mindstorms® software to program their robots to maneuver in the water, thereby gaining valuable experience with computer programming, as well as 21st Century skills. Teams must complete a series of increasingly sophisticated challenges which culminates with a final challenge that integrates learning from the prior challenges. The nature of these challenges allows for easy adaptation to various real-world scenarios for students to engage in, such as developing a submarine for ocean floor study or designing a vehicle to explore and mine the ocean for mineral resources. First-hand experience with WaterBotics curriculum has shown the increased engagement and excitement for STEM. Starting with a peanut butter and jelly sandwich leads to amazing discovery as students work through the engineering design process, sketching and building their LEGO robots and learning the steps to simple programs that allow their robotic creations to complete various tasks. With LEGOs being so easy to use, students can easily revise their design over and over again until it looks and works as it should. Once the students have the opportunity to test their design in the water for the first time, they are hooked. They can see that something they designed and built actually completes the task, even if it takes multiple tries, and they want to try the next challenge.
Bioinspired polyethylene terephthalate nanocone arrays with underwater superoleophobicity and anti-bioadhesion properties

NASA Astrophysics Data System (ADS)

Liu, Wendong; Liu, Xueyao; Fangteng, Jiaozi; Wang, Shuli; Fang, Liping; Shen, Huaizhong; Xiang, Siyuan; Sun, Hongchen; Yang, Bai

2014-10-01

This paper presents a facile method to fabricate bioinspired polyethylene terephthalate (PET) nanocone arrays via colloidal lithography. The aspect ratio (AR) of the nanocones can be finely modulated ranging from 1 to 6 by regulating the etching time. The samples with the AR value of 6 can present underwater superoleophobicity with the underwater oil contact angle (OCA) of 171.8°. The as-prepared PET nanocone arrays perform anti-bioadhesion behavior, which inhibits the formation of the actin cytoskeleton when it used as the substrate for cell culture. Moreover, the oil wettability is temperature controlled after modifying the PET nanocone arrays with PNIPAAm film, and the oil wettability of the functionalized nanocone arrays can be transformed from the superoleophobic state with OCA about 151° to the oleophilic state with OCA about 25° reversibly. Due to the high-throughput, parallel fabrication and cost-efficiency of this method, it will be favourable for researchers to introduce oleophobic properties to various substrate and device surfaces. Due to the superoleophobicity and simple functionalizing properties, the PET nanocone arrays are very promising surfaces for anti-adhesion, self-cleaning and have potential applications in material, medical, and biological fields.This paper presents a facile method to fabricate bioinspired polyethylene terephthalate (PET) nanocone arrays via colloidal lithography. The aspect ratio (AR) of the nanocones can be finely modulated ranging from 1 to 6 by regulating the etching time. The samples with the AR value of 6 can present underwater superoleophobicity with the underwater oil contact angle (OCA) of 171.8°. The as-prepared PET nanocone arrays perform anti-bioadhesion behavior, which inhibits the formation of the actin cytoskeleton when it used as the substrate for cell culture. Moreover, the oil wettability is temperature controlled after modifying the PET nanocone arrays with PNIPAAm film, and the oil wettability of the functionalized nanocone arrays can be transformed from the superoleophobic state with OCA about 151° to the oleophilic state with OCA about 25° reversibly. Due to the high-throughput, parallel fabrication and cost-efficiency of this method, it will be favourable for researchers to introduce oleophobic properties to various substrate and device surfaces. Due to the superoleophobicity and simple functionalizing properties, the PET nanocone arrays are very promising surfaces for anti-adhesion, self-cleaning and have potential applications in material, medical, and biological fields. Electronic supplementary information (ESI) available: The optical microscopy image of the self-assembled 2D PS microspheres over a large area, the diameter of the PS microsphere is 580 nm; The top-view SEM image of the PET nanocone arrays over a large area, the AR of the nanocone is 6; The SEM image of the PET nanocone arrays obtained after 30 min etching; The optical image of the water droplet on the PET nanocone arrays with an AR of 6; The schematic illustration of the nanocone arrays modification with PNIPAAm; High resolution XPS spectra of the PNIPAAm modified PET nanocone arrays. See DOI: 10.1039/c4nr04471a
Volumetric PIV of multiple free-swimming maneuvers generated by the KnifeBot: a biomimetic vessel propelled by an undulating fin

NASA Astrophysics Data System (ADS)

Liu, Hanlin; Troolin, Daniel; Hortensius, Ruben; Pothos, Stamatios; Curet, Oscar

2017-11-01

An undulating fin represents a remarkable propulsion model for underwater vehicles due to its high propulsive efficiency and considerable locomotor capabilities. In this work, we used a bio-inspired vessel, the KnifeBot to demonstrate the maneuverability of undulating fin propulsion, including forward-backward swimming, station keeping and vertical swimming. This self-contained robotic system uses an undulating ventral fin as the propulsor and features a slender 3D-printed hull with 16 motors, 2 batteries and electronic boards encapsulated inside. We tested the robot in a water-filled tank and used volumetric particle image velocimetry (V3V PIV) to investigate the three-dimensional flow features and vortex structures generated by the undulating ribbon fin in free-swimming maneuvers. Our results indicate that in the forward swimming, a series of vortex tubes are shed off the fin edge. A streamwise jet at an oblique angle to the fin is generated in association with the vortex tubes propelling the robot forward as well as pitching it up. For the hovering maneuver with inward counter-propagating waves. The streamlines develop vertically downward with the tip vortex shed from the fin edge. This downward jet provides substantial heave force for the robot to swim upward or perform station keeping. Our findings will be useful for understanding the mechanical basis of undulating fin propulsion and facilitate the development of bio-inspired vehicles using undulatory propellers. Office of Naval Research under Award Number N00014-16-1-2505.
In vivo visualization of robotically implemented synthetic tracked aperture ultrasound (STRATUS) imaging system using curvilinear array

NASA Astrophysics Data System (ADS)

Zhang, Haichong K.; Aalamifar, Fereshteh; Boctor, Emad M.

2016-04-01

Synthetic aperture for ultrasound is a technique utilizing a wide aperture in both transmit and receive to enhance the ultrasound image quality. The limitation of synthetic aperture is the maximum available aperture size limit determined by the physical size of ultrasound probe. We propose Synthetic-Tracked Aperture Ultrasound (STRATUS) imaging system to overcome the limitation by extending the beamforming aperture size through ultrasound probe tracking. With a setup involving a robotic arm, the ultrasound probe is moved using the robotic arm, while the positions on a scanning trajectory are tracked in real-time. Data from each pose are synthesized to construct a high resolution image. In previous studies, we have demonstrated the feasibility through phantom experiments. However, various additional factors such as real-time data collection or motion artifacts should be taken into account when the in vivo target becomes the subject. In this work, we build a robot-based STRATUS imaging system with continuous data collection capability considering the practical implementation. A curvilinear array is used instead of a linear array to benefit from its wider capture angle. We scanned human forearms under two scenarios: one submerged the arm in the water tank under 10 cm depth, and the other directly scanned the arm from the surface. The image contrast improved 5.51 dB, and 9.96 dB for the underwater scan and the direct scan, respectively. The result indicates the practical feasibility of STRATUS imaging system, and the technique can be potentially applied to the wide range of human body.
Applied estimation for hybrid dynamical systems using perceptional information

NASA Astrophysics Data System (ADS)

Plotnik, Aaron M.

This dissertation uses the motivating example of robotic tracking of mobile deep ocean animals to present innovations in robotic perception and estimation for hybrid dynamical systems. An approach to estimation for hybrid systems is presented that utilizes uncertain perceptional information about the system's mode to improve tracking of its mode and continuous states. This results in significant improvements in situations where previously reported methods of estimation for hybrid systems perform poorly due to poor distinguishability of the modes. The specific application that motivates this research is an automatic underwater robotic observation system that follows and films individual deep ocean animals. A first version of such a system has been developed jointly by the Stanford Aerospace Robotics Laboratory and Monterey Bay Aquarium Research Institute (MBARI). This robotic observation system is successfully fielded on MBARI's ROVs, but agile specimens often evade the system. When a human ROV pilot performs this task, one advantage that he has over the robotic observation system in these situations is the ability to use visual perceptional information about the target, immediately recognizing any changes in the specimen's behavior mode. With the approach of the human pilot in mind, a new version of the robotic observation system is proposed which is extended to (a) derive perceptional information (visual cues) about the behavior mode of the tracked specimen, and (b) merge this dissimilar, discrete and uncertain information with more traditional continuous noisy sensor data by extending existing algorithms for hybrid estimation. These performance enhancements are enabled by integrating techniques in hybrid estimation, computer vision and machine learning. First, real-time computer vision and classification algorithms extract a visual observation of the target's behavior mode. Existing hybrid estimation algorithms are extended to admit this uncertain but discrete observation, complementing the information available from more traditional sensors. State tracking is achieved using a new form of Rao-Blackwellized particle filter called the mode-observed Gaussian Particle Filter. Performance is demonstrated using data from simulation and data collected on actual specimens in the ocean. The framework for estimation using both traditional and perceptional information is easily extensible to other stochastic hybrid systems with mode-related perceptional observations available.
Australian sea-floor survey data, with images and expert annotations.

PubMed

Bewley, Michael; Friedman, Ariell; Ferrari, Renata; Hill, Nicole; Hovey, Renae; Barrett, Neville; Marzinelli, Ezequiel M; Pizarro, Oscar; Figueira, Will; Meyer, Lisa; Babcock, Russ; Bellchambers, Lynda; Byrne, Maria; Williams, Stefan B

2015-01-01

This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research.
Australian sea-floor survey data, with images and expert annotations

PubMed Central

Bewley, Michael; Friedman, Ariell; Ferrari, Renata; Hill, Nicole; Hovey, Renae; Barrett, Neville; Pizarro, Oscar; Figueira, Will; Meyer, Lisa; Babcock, Russ; Bellchambers, Lynda; Byrne, Maria; Williams, Stefan B.

2015-01-01

This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research. PMID:26528396
Australian sea-floor survey data, with images and expert annotations

NASA Astrophysics Data System (ADS)

Bewley, Michael; Friedman, Ariell; Ferrari, Renata; Hill, Nicole; Hovey, Renae; Barrett, Neville; Pizarro, Oscar; Figueira, Will; Meyer, Lisa; Babcock, Russ; Bellchambers, Lynda; Byrne, Maria; Williams, Stefan B.

2015-10-01

This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research.
Robotic gait trainer in water: development of an underwater gait-training orthosis.

PubMed

Miyoshi, Tasuku; Hiramatsu, Kazuaki; Yamamoto, Shin-Ichiro; Nakazawa, Kimitaka; Akai, Masami

2008-01-01

To develop a robotic gait trainer that can be used in water (RGTW) and achieve repetitive physiological gait patterns to improve the movement dysfunctions. The RGTW is a hip-knee-ankle-foot orthosis with pneumatic actuators; the control software was developed on the basis of the angular motions of the hip and knee joint of a healthy subject as he walked in water. Three-dimensional motions and electromyographic (EMG) activities were recorded in nine healthy subjects to evaluate the efficacy of using the RGTW while walking on a treadmill in water. The device could preserve the angular displacement patterns of the hip and knee and foot trajectories under all experimental conditions. The tibialis anterior EMG activities in the late swing phase and the biceps femoris throughout the stance phase were reduced whose joint torques were assisted by the RGTW while walking on a treadmill in water. Using the RGTW could expect not only the effect of the hydrotherapy but also the standard treadmill gait training, in particular, and may be particularly effective for treating individuals with hip joint movement dysfunction.
KSC-03pd1377

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Pictured is equipment that will be used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1383

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - John Reed, co-principal investigator, Harbor Branch Oceanographic Institution, points to the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. A team of scientists will deploy an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. The PAMS was originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.
Development of underwater robotics

NASA Astrophysics Data System (ADS)

Nyrkov, A. P.; Zhilenkov, A. A.; Korotkov, V. V.; Sokolov, S. S.; Chernyi, S. G.

2017-01-01

In the scientific surroundings, the statements that Oceanographic researches are, in many aspects, more complex and challenging, even compared to space research are not rare. Now, in the middle of the second decade of the XXI century, there is no doubt that the study of the oceans has become an issue of global importance, covering economic, industrial, social, defense and many other activities and interests of the society in the modern world. We are seeing the necessity of expanding the boundaries of Oceanographic research, increasing the number of types and growth of quality of measurements in the water column as well as their systematization, increasing of the depths of research, which is caused by the growing necessity of sea bottom studies, etc.
KSC-03PD-2377

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Research team members take their places on one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2384

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin retrieve some of the project's equipment from the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2381

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin release some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2369

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Dr. Grant Gilmore (left), Dynamac Corp., talks to another member of the research team conducting underwater acoustic research in the Launch Complex 39 turn basin. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.

Brush head composition, wear profile, and cleaning efficacy: an assessment of three electric brush heads using in vitro methods.

PubMed

Kaiser, Eva; Meyners, Michael; Markgraf, Dirk; Stoerkel, Ulrich; von Koppenfels, Roxana; Adam, Ralf; Soukup, Martin; Wehrbein, Heinrich; Erbe, Christina

2014-01-01

The objective of this research was to evaluate a current store brand (SB) brush head for composition/physical characteristics, Wear Index (WI), and cleaning efficacy versus the previous SB brush head refill design (SB control) and the Oral-B Precision Clean brush head (positive control, PC). This research consisted of three parts: 1) Analytical analysis using Fourier Transform Infrared (FT-IR) spectrometry to evaluate the chemical composition of the current SB brush head bristles relative to the SB control. In addition, physical parameters such as bristle count and diameter were determined. 2) Wear Index (WI) investigation to determine the Wear Index scores of in vitro-aged brush heads at four weeks (one month) and 13 weeks (three months) by a trained investigator. To "age" the brush heads, a robot system was used as a new alternative in vitro method to simulate aging by consumer use. 3) Robot testing to determine the cleaning performance of in vitro-aged brush heads, comparing one month-aged current SB brush heads with the SB control (one and three months-aged) and the PC brush heads (three months-aged) in a standardized fashion. 1) FT-IR analysis revealed that the chemical composition of the current and control SB refill brush heads is identical. In terms of physical parameters, the current SB brush head has 12% more bristles and a slightly oval brush head compared to the round brush head of the SB control. 2) Wear Index analysis showed there was no difference in the one month-aged current SB brush head versus the one month-aged SB control (1.67 vs. 1.50, p = 0.65) or versus the three months-aged PC brush head (1.67 vs. 1.50, p = 0.65). The one month-aged current SB brush head demonstrated statistically significantly less wear than the three months-aged SB control (1.67 vs. 2.67, p = 0.01). 3) Analysis of cleaning efficacy shows that the one month-aged current SB brush head had improved cleaning performance over the one month-aged SB control brush head (p < 0.05), despite no statistically significant difference in wear. Both the one month-aged current and control SB brush heads showed statistically significantly lower cleaning performance compared to the three months-aged PC brush heads (p < 0.01). While the current SB brush head showed improved cleaning over the SB control, it demonstrated significantly lower durability and cleaning in comparison to the PC brush head. Dental professionals should be aware of these differences, both in durability and in cleaning performance, when recommending brush heads to their patients.
Advanced Curation Protocols for Mars Returned Sample Handling

NASA Astrophysics Data System (ADS)

Bell, M.; Mickelson, E.; Lindstrom, D.; Allton, J.

Introduction: Johnson Space Center has over 30 years experience handling precious samples which include Lunar rocks and Antarctic meteorites. However, we recognize that future curation of samples from such missions as Genesis, Stardust, and Mars S mple Return, will require a high degree of biosafety combined witha extremely low levels of inorganic, organic, and biological contamination. To satisfy these requirements, research in the JSC Advanced Curation Lab is currently focused toward two major areas: preliminary examination techniques and cleaning and verification techniques . Preliminary Examination Techniques : In order to minimize the number of paths for contamination we are exploring the synergy between human &robotic sample handling in a controlled environment to help determine the limits of clean curation. Within the Advanced Curation Laboratory is a prototype, next-generation glovebox, which contains a robotic micromanipulator. The remotely operated manipulator has six degrees-of- freedom and can be programmed to perform repetitive sample handling tasks. Protocols are being tested and developed to perform curation tasks such as rock splitting, weighing, imaging, and storing. Techniques for sample transfer enabling more detailed remote examination without compromising the integrity of sample science are also being developed . The glovebox is equipped with a rapid transfer port through which samples can be passed without exposure. The transfer is accomplished by using a unique seal and engagement system which allows passage between containers while maintaining a first seal to the outside environment and a second seal to prevent the outside of the container cover and port door from becoming contaminated by the material being transferred. Cleaning and Verification Techniques: As part of the contamination control effort, innovative cleaning techniques are being identified and evaluated in conjunction with sensitive cleanliness verification methods. Towards this end, cleaning techniques such as ultrasonication in ultra -pure water (UPW), oxygen (O2) plasma, and carbon dioxide (CO2) "snow" are being used to clean a variety of different contaminants on a variety of different surfaces. Additionally, once cleaned, techniques to directly verify the s rface cleanliness are being developed. Theseu include X ray photoelectron spectroscopy (XPS) quantification, and screening with- contact angle measure ments , which can be correlated with XPS standards. Methods developed in the Advanced Curation Laboratory will determine the extent to which inorganic and biological contamination can be controlled and minimized.
Fish and chips: implementation of a neural network model into computer chips to maximize swimming efficiency in autonomous underwater vehicles.

PubMed

Blake, R W; Ng, H; Chan, K H S; Li, J

2008-09-01

Recent developments in the design and propulsion of biomimetic autonomous underwater vehicles (AUVs) have focused on boxfish as models (e.g. Deng and Avadhanula 2005 Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement Proc. 2005 IEEE Int. Conf. Robot. Auto. (Barcelona, Spain) pp 3312-7). Whilst such vehicles have many potential advantages in operating in complex environments (e.g. high manoeuvrability and stability), limited battery life and payload capacity are likely functional disadvantages. Boxfish employ undulatory median and paired fins during routine swimming which are characterized by high hydromechanical Froude efficiencies (approximately 0.9) at low forward speeds. Current boxfish-inspired vehicles are propelled by a low aspect ratio, 'plate-like' caudal fin (ostraciiform tail) which can be shown to operate at a relatively low maximum Froude efficiency (approximately 0.5) and is mainly employed as a rudder for steering and in rapid swimming bouts (e.g. escape responses). Given this and the fact that bioinspired engineering designs are not obligated to wholly duplicate a biological model, computer chips were developed using a multilayer perception neural network model of undulatory fin propulsion in the knifefish Xenomystus nigri that would potentially allow an AUV to achieve high optimum values of propulsive efficiency at any given forward velocity, giving a minimum energy drain on the battery. We envisage that externally monitored information on flow velocity (sensory system) would be conveyed to the chips residing in the vehicle's control unit, which in turn would signal the locomotor unit to adopt kinematics (e.g. fin frequency, amplitude) associated with optimal propulsion efficiency. Power savings could protract vehicle operational life and/or provide more power to other functions (e.g. communications).
First results from a new interdisciplinary robotic vehicle for under-ice research

NASA Astrophysics Data System (ADS)

Nicolaus, M.; Katlein, C.; Schiller, M.

2016-12-01

Research at the ice-water interface below drifting sea-ice is crucial for the investigation of the fluxes of energy, momentum and matter across the atmosphere-ice-ocean boundary. Transmission of solar energy through the ice and snow layers causes warming of the upper ocean and melting of the ice itself. It is also a key factor for in and under-ice primary production, supplying the ice associated food-chain and causing carbon export to deeper water layers and the sea floor. The complex geometry of sea ice does not only cause a large spatial variability in optical properties of the ice cover, but also influences biomass accumulations and especially the hydrodynamic interaction between the ice cover and the uppermost layers of the ocean. Access to the ice underside is however still sparse, as diving operations are risky and logistically challenging. In the last decade, robotic underwater technologies have evolved significantly and enabled the first targeted large-scale observations by remotely operated and autonomous underwater vehicles. A new remotely operated vehicle was commissioned for under ice research at the Alfred Wegener Institute supported by the FRAM infrastructure program of the Helmholtz-Society. Apart from proven under-ice navigation and operation capabilities, the vehicle provides an extended interdisciplinary sensor platform supporting oceanographic, biological, biogeochemical and physical sea-ice research. Here we present the first preliminary data obtained with the new vehicle during the PS101 expedition of the German icebreaker RV Polarstern to the Central Arctic in September and October 2016. Apart from measurements of spectral light transmittance of sea ice during the autumn freeze-up, we show vertical profiles of the bio-optical and oceanographic properties of the upper water column. This data is combined with under-ice topography obtained from upward-looking multibeam sonar, still imagery and HD-video material.
An Improved Otsu Threshold Segmentation Method for Underwater Simultaneous Localization and Mapping-Based Navigation

PubMed Central

Yuan, Xin; Martínez, José-Fernán; Eckert, Martina; López-Santidrián, Lourdes

2016-01-01

The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR) sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM). According to the characteristics of sonar images, in this paper, an improved Otsu threshold segmentation method (TSM) has been developed for feature detection. In combination with a contour detection algorithm, the foreground objects, although presenting different feature shapes, are separated much faster and more precisely than by other segmentation methods. Tests have been made with side-scan sonar (SSS) and forward-looking sonar (FLS) images in comparison with other four TSMs, namely the traditional Otsu method, the local TSM, the iterative TSM and the maximum entropy TSM. For all the sonar images presented in this work, the computational time of the improved Otsu TSM is much lower than that of the maximum entropy TSM, which achieves the highest segmentation precision among the four above mentioned TSMs. As a result of the segmentations, the centroids of the main extracted regions have been computed to represent point landmarks which can be used for navigation, e.g., with the help of an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-SLAM approach is a recursive and iterative estimation-update process, which besides a prediction and an update stage (as in classical Extended Kalman Filter (EKF)), includes an augmentation stage. During navigation, the robot localizes the centroids of different segments of features in sonar images, which are detected by our improved Otsu TSM, as point landmarks. Using them with the AEKF achieves more accurate and robust estimations of the robot pose and the landmark positions, than with those detected by the maximum entropy TSM. Together with the landmarks identified by the proposed segmentation algorithm, the AEKF-SLAM has achieved reliable detection of cycles in the map and consistent map update on loop closure, which is shown in simulated experiments. PMID:27455279
An Improved Otsu Threshold Segmentation Method for Underwater Simultaneous Localization and Mapping-Based Navigation.

PubMed

Yuan, Xin; Martínez, José-Fernán; Eckert, Martina; López-Santidrián, Lourdes

2016-07-22

The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR) sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM). According to the characteristics of sonar images, in this paper, an improved Otsu threshold segmentation method (TSM) has been developed for feature detection. In combination with a contour detection algorithm, the foreground objects, although presenting different feature shapes, are separated much faster and more precisely than by other segmentation methods. Tests have been made with side-scan sonar (SSS) and forward-looking sonar (FLS) images in comparison with other four TSMs, namely the traditional Otsu method, the local TSM, the iterative TSM and the maximum entropy TSM. For all the sonar images presented in this work, the computational time of the improved Otsu TSM is much lower than that of the maximum entropy TSM, which achieves the highest segmentation precision among the four above mentioned TSMs. As a result of the segmentations, the centroids of the main extracted regions have been computed to represent point landmarks which can be used for navigation, e.g., with the help of an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-SLAM approach is a recursive and iterative estimation-update process, which besides a prediction and an update stage (as in classical Extended Kalman Filter (EKF)), includes an augmentation stage. During navigation, the robot localizes the centroids of different segments of features in sonar images, which are detected by our improved Otsu TSM, as point landmarks. Using them with the AEKF achieves more accurate and robust estimations of the robot pose and the landmark positions, than with those detected by the maximum entropy TSM. Together with the landmarks identified by the proposed segmentation algorithm, the AEKF-SLAM has achieved reliable detection of cycles in the map and consistent map update on loop closure, which is shown in simulated experiments.
Recognition of plant parts with problem-specific algorithms

NASA Astrophysics Data System (ADS)

Schwanke, Joerg; Brendel, Thorsten; Jensch, Peter F.; Megnet, Roland

1994-06-01

Automatic micropropagation is necessary to produce cost-effective high amounts of biomass. Juvenile plants are dissected in clean- room environment on particular points on the stem or the leaves. A vision-system detects possible cutting points and controls a specialized robot. This contribution is directed to the pattern- recognition algorithms to detect structural parts of the plant.
Compressed breathing air - the potential for evil from within.

PubMed

Millar, Ian L; Mouldey, Peter G

2008-06-01

Human underwater activities rely on an adequate supply of breathable compressed gas, usually air, free from contaminants that could cause incapacitation underwater or post-dive or longer-term health effects. Potentially fatal but well-known hazards are hypoxia secondary to steel cylinder corrosion and carbon monoxide (CO) poisoning due to contaminated intake air. Another phenomenon may be behind some previously unexplained episodes of underwater incapacitation and perhaps death: low-level CO poisoning and/or the effects of gaseous contaminants generated within the compressor, including toluene and other volatile compounds. Many low molecular weight volatile contaminants are anaesthetic and will be potentiated by pressure and nitrogen narcosis. In sub-anaesthetic doses, impaired judgement, lowered seizure threshold and sensitisation of the heart to arrhythmias may occur. Toxic compounds can be volatilised from some compressor oils, especially mineral oils, in overheated compressors, or be created de novo under certain combinations of temperature, humidity and pressure, perhaps catalysed by metal traces from compressor wear and tear. Most volatiles can be removed by activated carbon filtration but many filters are undersized and may overload in hot, moist conditions and with short dwell times. A compressor that passes normal testing could contaminate one or more cylinders after heating up and then return to producing clean air as the filters dry and the systems cool. The scope of this problem is very unclear as air quality is tested infrequently and often inadequately, even after fatalities. More research is needed as well as better education regarding the safe operation and limitations of high-pressure breathing air compressors.
Inspection and repair of steam generator tubing with a robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Boehm, H.H.; Foerch, H.

1985-11-01

During inspection and repair of steam generator tubing, radiation exposure to personnel is an unrequested endowment. To combat this intrinsic handicap, a robot has been designed for deployment in all operations inside the steam generator water chamber. This measure drastically reduces entering time and also improves inspection capabilities with regard to the accuracy and reproduction of the desired tube address. The inherent flexibility of the robot allows for performing various inspection and repair techniques: eddy-current testing of tubing; ultrasonic testing of tubing; visual examination of tube ends; profilometry measurements; tube plugging; plug removal; tube extraction; sleeving of tubes; tube endmore » repair; chemical cleaning; and thermal treatment. Plant experience has highlighted the following features of the robot: 1) short installation and demounting periods; 2) installation independent of manhole location; 3) installation possible from outside the steam generator; 4) only one relocation required to address all the tube positions; 5) fast and highly accurate positioning; 6) operational surveillance not required; and 7) drastic reduction of radiation exposure to personnel during repair work.« less
Towards Autonomous Operation of Robonaut 2

NASA Technical Reports Server (NTRS)

Badger, Julia M.; Hart, Stephen W.; Yamokoski, J. D.

2011-01-01

The Robonaut 2 (R2) platform, as shown in Figure 1, was designed through a collaboration between NASA and General Motors to be a capable robotic assistant with the dexterity similar to a suited astronaut [1]. An R2 robot was sent to the International Space Station (ISS) in February 2011 and, in doing so, became the first humanoid robot in space. Its capabilities are presently being tested and expanded to increase its usefulness to the crew. Current work on R2 includes the addition of a mobility platform to allow the robot to complete tasks (such as cleaning, maintenance, or simple construction activities) both inside and outside of the ISS. To support these new activities, R2's software architecture is being developed to provide efficient ways of programming robust and autonomous behavior. In particular, a multi-tiered software architecture is proposed that combines principles of low-level feedback control with higher-level planners that accomplish behavioral goals at the task level given the run-time context, user constraints, the health of the system, and so on. The proposed architecture is shown in Figure 2. At the lowest-level, the resource level, there exists the various sensory and motor signals available to the system. The sensory signals for a robot such as R2 include multiple channels of force/torque data, joint or Cartesian positions calculated through the robot's proprioception, and signals derived from objects observable by its cameras.
Accurate three-dimensional virtual reconstruction of surgical field using calibrated trajectories of an image-guided medical robot

PubMed Central

Gong, Yuanzheng; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

2014-01-01

Abstract. Brain tumor margin removal is challenging because diseased tissue is often visually indistinguishable from healthy tissue. Leaving residual tumor leads to decreased survival, and removing normal tissue causes life-long neurological deficits. Thus, a surgical robotics system with a high degree of dexterity, accurate navigation, and highly precise resection is an ideal candidate for image-guided removal of fluorescently labeled brain tumor cells. To image, we developed a scanning fiber endoscope (SFE) which acquires concurrent reflectance and fluorescence wide-field images at a high resolution. This miniature flexible endoscope was affixed to the arm of a RAVEN II surgical robot providing programmable motion with feedback control using stereo-pair surveillance cameras. To verify the accuracy of the three-dimensional (3-D) reconstructed surgical field, a multimodal physical-sized model of debulked brain tumor was used to obtain the 3-D locations of residual tumor for robotic path planning to remove fluorescent cells. Such reconstruction is repeated intraoperatively during margin clean-up so the algorithm efficiency and accuracy are important to the robotically assisted surgery. Experimental results indicate that the time for creating this 3-D surface can be reduced to one-third by using known trajectories of a robot arm, and the error from the reconstructed phantom is within 0.67 mm in average compared to the model design. PMID:26158071
Learning classifier systems for single and multiple mobile robots in unstructured environments

NASA Astrophysics Data System (ADS)

Bay, John S.

1995-12-01

The learning classifier system (LCS) is a learning production system that generates behavioral rules via an underlying discovery mechanism. The LCS architecture operates similarly to a blackboard architecture; i.e., by posted-message communications. But in the LCS, the message board is wiped clean at every time interval, thereby requiring no persistent shared resource. In this paper, we adapt the LCS to the problem of mobile robot navigation in completely unstructured environments. We consider the model of the robot itself, including its sensor and actuator structures, to be part of this environment, in addition to the world-model that includes a goal and obstacles at unknown locations. This requires a robot to learn its own I/O characteristics in addition to solving its navigation problem, but results in a learning controller that is equally applicable, unaltered, in robots with a wide variety of kinematic structures and sensing capabilities. We show the effectiveness of this LCS-based controller through both simulation and experimental trials with a small robot. We then propose a new architecture, the Distributed Learning Classifier System (DLCS), which generalizes the message-passing behavior of the LCS from internal messages within a single agent to broadcast massages among multiple agents. This communications mode requires little bandwidth and is easily implemented with inexpensive, off-the-shelf hardware. The DLCS is shown to have potential application as a learning controller for multiple intelligent agents.
Analysis of vibration characteristics of opening device for deepwater robot cabin door and study of its structural optimization design

NASA Astrophysics Data System (ADS)

Zeng, Baoping; Liu, Jipeng; Zhang, Yu; Gong, Yajun; Hu, Sanbao

2017-12-01

Deepwater robots are important devices for human to explore the sea, which is being under development towards intellectualization, multitasking, long-endurance and large depth along with the development of science and technology. As far as a deep-water robot is concerned, its mechanical systems is an important subsystem because not only it influences the instrument measuring precision and shorten the service life of cabin devices but also its overlarge vibration and noise lead to disadvantageous effects to marine life within the operational area. Therefore, vibration characteristics shall be key factor for the deep-water robot system design. The sample collection and recycling system of some certain deepwater robot in a mechanism for opening the underwater cabin door for external operation and recycling test equipment is focused in this study. For improving vibration characteristics of locations of the cabin door during opening processes, a vibration model was established to the opening system; and the structural optimization design was carried out to its important structures by utilizing the multi-objective shape optimization and topology optimization method based on analysis of the system vibration. Analysis of characteristics of exciting forces causing vibration was first carried out, which include characteristics of dynamic loads within the hinge clearances and due to friction effects and the fluid dynamic exciting forces during processes of opening the cabin door. Moreover, vibration acceleration responses for a few important locations of the devices for opening the cabin cover were deduced by utilizing the modal synthesis method so that its rigidity and modal frequency may be one primary factor influencing the system vibration performances based on analysis of weighted acceleration responses. Thus, optimization design was carried out to the cabin cover by utilizing the multi-objective topology optimization method to perform reduction of weighted accelerations of key structure locations.
Localization of source with unknown amplitude using IPMC sensor arrays

NASA Astrophysics Data System (ADS)

Abdulsadda, Ahmad T.; Zhang, Feitian; Tan, Xiaobo

2011-04-01

The lateral line system, consisting of arrays of neuromasts functioning as flow sensors, is an important sensory organ for fish that enables them to detect predators, locate preys, perform rheotaxis, and coordinate schooling. Creating artificial lateral line systems is of significant interest since it will provide a new sensing mechanism for control and coordination of underwater robots and vehicles. In this paper we propose recursive algorithms for localizing a vibrating sphere, also known as a dipole source, based on measurements from an array of flow sensors. A dipole source is frequently used in the study of biological lateral lines, as a surrogate for underwater motion sources such as a flapping fish fin. We first formulate a nonlinear estimation problem based on an analytical model for the dipole-generated flow field. Two algorithms are presented to estimate both the source location and the vibration amplitude, one based on the least squares method and the other based on the Newton-Raphson method. Simulation results show that both methods deliver comparable performance in source localization. A prototype of artificial lateral line system comprising four ionic polymer-metal composite (IPMC) sensors is built, and experimental results are further presented to demonstrate the effectiveness of IPMC lateral line systems and the proposed estimation algorithms.
Shape optimisation of an underwater Bernoulli gripper

NASA Astrophysics Data System (ADS)

Flint, Tim; Sellier, Mathieu

2015-11-01

In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.
Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

NASA Astrophysics Data System (ADS)

Zhang, Zengmeng; Hou, Jiaoyi; Ning, Dayong; Gong, Xiaofeng; Gong, Yongjun

2017-05-01

Fluidic artificial muscles are popular in robotics and function as biomimetic actuators. Their pneumatic version has been widely investigated. A novel water hydraulic artificial muscle (WHAM) with high strength is developed in this study. WHAMs can be applied to underwater manipulators widely used in ocean development because of their environment-friendly characteristics, high force-to-weight ratio, and good bio-imitability. Therefore, the strength of WHAMs has been improved to fit the requirements of underwater environments and the work pressure of water hydraulic components. However, understanding the mechanical behaviors of WHAMs is necessary because WHAMs use work media and pressure control that are different from those used by pneumatic artificial muscles. This paper presents the static and dynamic characteristics of the WHAM system, including the water hydraulic pressure control circuit. A test system is designed and built to analyze the drive characteristics of the developed WHAM. The theoretical relationships among the amount of contraction, pressure, and output drawing force of the WHAM are tested and verified. A linearized transfer function is proposed, and the dynamic characteristics of the WHAM are investigated through simulation and inertia load experiments. Simulation results agree with the experimental results and show that the proposed model can be applied to the control of WHAM actuators.
Low complexity lossless compression of underwater sound recordings.

PubMed

Johnson, Mark; Partan, Jim; Hurst, Tom

2013-03-01

Autonomous listening devices are increasingly used to study vocal aquatic animals, and there is a constant need to record longer or with greater bandwidth, requiring efficient use of memory and battery power. Real-time compression of sound has the potential to extend recording durations and bandwidths at the expense of increased processing operations and therefore power consumption. Whereas lossy methods such as MP3 introduce undesirable artifacts, lossless compression algorithms (e.g., flac) guarantee exact data recovery. But these algorithms are relatively complex due to the wide variety of signals they are designed to compress. A simpler lossless algorithm is shown here to provide compression factors of three or more for underwater sound recordings over a range of noise environments. The compressor was evaluated using samples from drifting and animal-borne sound recorders with sampling rates of 16-240 kHz. It achieves >87% of the compression of more-complex methods but requires about 1/10 of the processing operations resulting in less than 1 mW power consumption at a sampling rate of 192 kHz on a low-power microprocessor. The potential to triple recording duration with a minor increase in power consumption and no loss in sound quality may be especially valuable for battery-limited tags and robotic vehicles.
Exploring Titan with Autonomous, Buoyancy Driven Gliders

NASA Astrophysics Data System (ADS)

Morrow, M. T.; Woolsey, C. A.; Hagerman, G. M.

Buoyancy driven underwater gliders are highly efficient winged underwater vehicles which locomote by modifying their internal shape. The concept, which is already well-proven in Earth's oceans, is also an appealing technology for remote terrain exploration and environmental sampling on worlds with dense atmospheres. Because of their high efficiency and their gentle, vertical take-off and landing capability, buoyancy driven gliders might perform long duration, global mapping tasks as well as light-duty, local sampling tasks. Moreover, a sufficiently strong gradient in the planetary boundary layer may enable the vehicles to perform dynamic soaring, achieving even greater locomotive efficiency. Shape Change Actuated, Low Altitude Robotic Soarers (SCALARS) are an appealing alternative to more conventional vehicle technology for exploring planets with dense atmospheres. SCALARS are buoyancy driven atmospheric gliders with a twin-hulled, inboard wing configuration. The inboard wing generates lift, which propels the vehicle forward. Symmetric changes in mass distribution induce gravitational pitch moments that provide longitudinal control. Asymmetric changes in mass distribution induce twist in the inboard wing that provides directional control. The vehicle is actuated solely by internal shape change; there are no external seals and no exposed moving parts, save for the inflatable buoyancy ballonets. Preliminary sizing analysis and dynamic modeling indicate the viability of using SCALARS to map the surface of Titan and to investigate features of interest.
Hybrid nanocomposites based on electroactive hydrogels and cellulose nanocrystals for high-sensitivity electro-mechanical underwater actuation

NASA Astrophysics Data System (ADS)

Santaniello, Tommaso; Migliorini, Lorenzo; Locatelli, Erica; Monaco, Ilaria; Yan, Yunsong; Lenardi, Cristina; Comes Franchini, Mauro; Milani, Paolo

2017-08-01

We report the synthesis, fabrication and characterization of a hybrid hydrogel/cellulose nanocomposite, which exhibits high-performance electro-mechanical underwater actuation and high sensitivity in response to electrical stimuli below the standard potential of water electrolysis. The macromolecular structure of the material is constituted by an electroactive hydrogel, obtained through a photo-polymerization reaction with the use of three vinylic co-monomers: Na-4-vinylbenzenesulfonate, 2-hydroxyethylmethacrylate, and acrylonitrile. Different amounts (from 0.1% to 1.4% w/w) of biodegradable cellulose nanocrystals (CNCs) with sulfonate surface groups, obtained through the acidic hydrolysis of sulphite pulp lapsheets, are physically incorporated into the gel matrix during the synthesis step. Freestanding thin films of the nanocomposites are molded, and their swelling, mechanical and responsive properties are fully characterized. We observed that the embedding of the CNCs enhanced both the material Young’s modulus and its sensitivity to the applied electric field in the sub-volt regime (down to 5 mV cm-1). A demonstrator integrating multiple actuators that cooperatively bend together, mimicking the motion of an electro-valve, is also prototyped and tested. The presented nanocomposite is suitable for the development of soft smart components for bio-robotic applications and cells-based and bio-hybrid fluidic devices fabrication.
KSC-03pd1380

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - John Reed, co-principal investigator, Harbor Branch Oceanographic Institution, checks out equipment on the Liberty Star, which will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. He and other scientists will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1376

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Dr. Grant Gilmore sits alongside some of the equipment that will be used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Gilmore is co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-03pd1378

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Pictured is a piece of equipment that will be used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-02pd1535

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- Sonar mapping equipment lies on the deck of the Liberty Star, one of NASA's solid rocket booster retrieval ships. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.
Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

PubMed

Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

2005-08-01

An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.
KSC-03PD-2383

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin monitor some of the project's equipment just released into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2380

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin prepare to release some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2385

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin lifts some of the project's equipment from the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2382

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin releases some of the project's equipment into the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2378

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. A research team member aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin prepares some of the project's equipment for placement in the water. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
KSC-03PD-2386

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Research team members aboard one of the watercraft being utilized to conduct underwater acoustic research in the Launch Complex 39 turn basin secure some of the project's equipment back into the vessel. Several government agencies, including NASA, NOAA, the Navy, the Coast Guard, and the Florida Fish and Wildlife Commission are involved in the testing. The research involves demonstrations of passive and active sensor technologies, with applications in fields ranging from marine biological research to homeland security. The work is also serving as a pilot project to assess the cooperation between the agencies involved. Equipment under development includes a passive acoustic monitor developed by NASAs Jet Propulsion Laboratory, and mobile robotic sensors from the Navys Mobile Diving and Salvage Unit.
Shared Autonomy Manipulation Data with a Seabotix vLBV300

DOE Data Explorer

Hollinger, Geoffrey; Lawrance, Nicholas

2017-06-19

This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.
Robotics crosscutting program: Technology summary

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies becamemore » evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology.« less
Electronic system for floor surface type detection in robotics applications

NASA Astrophysics Data System (ADS)

Tarapata, Grzegorz; Paczesny, Daniel; Tarasiuk, Łukasz

2016-11-01

The paper reports a recognizing method base on ultrasonic transducers utilized for the surface types detection. Ultra-sonic signal is transmitted toward the examined substrate, then reflected and scattered signal goes back to another ultra-sonic receiver. Thee measuring signal is generated by a piezo-electric transducer located at specified distance from the tested substrate. The detector is a second piezo-electric transducer located next to the transmitter. Depending on thee type of substrate which is exposed by an ultrasonic wave, the signal is partially absorbed inn the material, diffused and reflected towards the receiver. To measure the level of received signal, the dedicated electronic circuit was design and implemented in the presented systems. Such system was designed too recognize two types of floor surface: solid (like concrete, ceramic stiles, wood) and soft (carpets, floor coverings). The method will be applied in electronic detection system dedicated to autonomous cleaning robots due to selection of appropriate cleaning method. This work presents the concept of ultrasonic signals utilization, the design of both the measurement system and the measuring stand and as well number of wide tests results which validates correctness of applied ultrasonic method.
PaR Tensile Truss for Nuclear Decontamination and Decommissioning - 12467

DOE Office of Scientific and Technical Information (OSTI.GOV)

Doebler, Gary R.

2012-07-01

Remote robotics and manipulators are commonly used in nuclear decontamination and decommissioning (D and D) processes. D and D robots are often deployed using rigid telescoping masts in order to apply and counteract side loads. However, for very long vertical reaches (15 meters or longer) and high lift capacities, a telescopic is usually not practical due to the large cross section and weight required to make the mast stiff and resist seismic forces. For those long vertical travel applications, PaR Systems has recently developed the Tensile Truss, a rigid, hoist-driven 'structure' that employs six independent wire rope hoists to achievemore » long vertical reaches. Like a mast, the Tensile Truss is typically attached to a bridge-mounted trolley and is used as a platform for robotic manipulators and other remotely operated tools. For suspended, rigid deployment of D and D tools with very long vertical reaches, the Tensile Truss can be a better alternative than a telescoping mast. Masts have length limitations that can make them impractical or unworkable as lengths increase. The Tensile Truss also has the added benefits of increased safety, ease of decontamination, superior stiffness and ability to withstand excessive side loading. A Tensile Truss system is currently being considered for D and D operations and spent fuel recovery at the Fukushima Daiichi Nuclear Power Plant in Japan. This system will deploy interchangeable tools such as underwater hydraulic manipulators, hydraulic shears and crushers, grippers and fuel grapples. (authors)« less
Turtle mimetic soft robot with two swimming gaits.

PubMed

Song, Sung-Hyuk; Kim, Min-Soo; Rodrigue, Hugo; Lee, Jang-Yeob; Shim, Jae-Eul; Kim, Min-Cheol; Chu, Won-Shik; Ahn, Sung-Hoon

2016-05-04

This paper presents a biomimetic turtle flipper actuator consisting of a shape memory alloy composite structure for implementation in a turtle-inspired autonomous underwater vehicle. Based on the analysis of the Chelonia mydas, the flipper actuator was divided into three segments containing a scaffold structure fabricated using a 3D printer. According to the filament stacking sequence of the scaffold structure in the actuator, different actuating motions can be realized and three different types of scaffold structures were proposed to replicate the motion of the different segments of the flipper of the Chelonia mydas. This flipper actuator can mimic the continuous deformation of the forelimb of Chelonia mydas which could not be realized in previous motor based robot. This actuator can also produce two distinct motions that correspond to the two different swimming gaits of the Chelonia mydas, which are the routine and vigorous swimming gaits, by changing the applied current sequence of the SMA wires embedded in the flipper actuator. The generated thrust and the swimming efficiency in each swimming gait of the flipper actuator were measured and the results show that the vigorous gait has a higher thrust but a relatively lower swimming efficiency than the routine gait. The flipper actuator was implemented in a biomimetic turtle robot, and its average swimming speed in the routine and vigorous gaits were measured with the vigorous gait being capable of reaching a maximum speed of 11.5 mm s(-1).
Estimating the position and orientation of a mobile robot with respect to a trajectory using omnidirectional imaging and global appearance.

PubMed

Payá, Luis; Reinoso, Oscar; Jiménez, Luis M; Juliá, Miguel

2017-01-01

Along the past years, mobile robots have proliferated both in domestic and in industrial environments to solve some tasks such as cleaning, assistance, or material transportation. One of their advantages is the ability to operate in wide areas without the necessity of introducing changes into the existing infrastructure. Thanks to the sensors they may be equipped with and their processing systems, mobile robots constitute a versatile alternative to solve a wide range of applications. When designing the control system of a mobile robot so that it carries out a task autonomously in an unknown environment, it is expected to take decisions about its localization in the environment and about the trajectory that it has to follow in order to arrive to the target points. More concisely, the robot has to find a relatively good solution to two crucial problems: building a model of the environment, and estimating the position of the robot within this model. In this work, we propose a framework to solve these problems using only visual information. The mobile robot is equipped with a catadioptric vision sensor that provides omnidirectional images from the environment. First, the robot goes along the trajectories to include in the model and uses the visual information captured to build this model. After that, the robot is able to estimate its position and orientation with respect to the trajectory. Among the possible approaches to solve these problems, global appearance techniques are used in this work. They have emerged recently as a robust and efficient alternative compared to landmark extraction techniques. A global description method based on Radon Transform is used to design mapping and localization algorithms and a set of images captured by a mobile robot in a real environment, under realistic operation conditions, is used to test the performance of these algorithms.
AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar

PubMed Central

He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing

2012-01-01

Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods. PMID:23012549
AUV SLAM and experiments using a mechanical scanning forward-looking sonar.

PubMed

He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing

2012-01-01

Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.
Control Theoretic Modeling and Generated Flow Patterns of a Fish-Tail Robot

NASA Astrophysics Data System (ADS)

Massey, Brian; Morgansen, Kristi; Dabiri, Dana

2003-11-01

Many real-world engineering problems involve understanding and manipulating fluid flows. One of the challenges to further progress in the area of active flow control is the lack of appropriate models that are amenable to control-theoretic studies and algorithm design and also incorporate reasonably realistic fluid dynamic effects. We focus here on modeling and model-verification of bio-inspired actuators (fish-fin type structures) used to control fluid dynamic artifacts that will affect speed, agility, and stealth of Underwater Autonomous Vehicles (UAVs). Vehicles using fish-tail type systems are more maneuverable, can turn in much shorter and more constrained spaces, have lower drag, are quieter and potentially more efficient than those using propellers. We will present control-theoretic models for a simple prototype coupled fluid and mechanical actuator where fluid effects are crudely modeled by assuming only lift, drag, and added mass, while neglecting boundary effects. These models will be tested with different control input parameters on an experimental fish-tail robot with the resulting flow captured with DPIV. Relations between the model, the control function choices, the obtained thrust and drag, and the corresponding flow patterns will be presented and discussed.
Simultaneous application of multiple platforms (Glider, Scanfish, profiling mooring, CTD) to improve detection and quantification of temporal ocean dynamics

NASA Astrophysics Data System (ADS)

Meyer, D.; Prien, R. D.; Lips, U.; Naumann, M.; Liblik, T.; Schulz-Bull, D. E.

2016-02-01

Ocean dynamics are difficult to observe given the broad spectrum of temporal and spatial scales. Robotic technology can be used to address this issue, and help to investigate the variability of physical and biogeochemical processes. This work focuses on ocean robots and in particular on glider technology which seems to be one of the most promising oceanographic tools for future marine research. In this context, we present the results of an observational program conducted in the Baltic Sea combining a profiling mooring (GODESS - Gotland Deep Environmental Sampling Station) and glider technology (Slocum). The temporal variability is captured by the mooring, while the spatial variability is obtained from the glider sampling the surrounding area. Furthermore, classical CTD-measurements and an underwater vehicle (Scanfish) are used simultaneously by two different research vessels to validate and complement the observing network. The main aim of the study is to identify possible synergies between the different platforms and to get a better understanding of maximizing the information content of the data collected by this network. The value and the quality of the data of each individual platform is analyzed and their contribution to the performance of the network itself evaluated.

Testing Momentum Enhancement of Ribbon Fin Based Propulsion Using a Robotic Model With an Adjustable Body

NASA Astrophysics Data System (ADS)

English, Ian; Curet, Oscar

2016-11-01

Lighthill and Blake's 1990 momentum enhancement theory suggests there is a multiplicative propulsive effect linked to the ratio of body and fin heights in Gymnotiform and Balistiform swimmers, which propel themselves using multi-rayed undulating fins while keeping their bodies mostly rigid. Proof of such a momentum enhancement could have a profound effect on unmanned underwater vehicle design and shed light on the evolutionary advantage to body-fin ratios found in nature, shown as optimal for momentum enhancement in Lighthill and Blake's theory. A robotic ribbon fin with twelve independent fin rays, elastic fin membrane, and a body of adjustable height was developed specifically to experimentally test momentum enhancement. Thrust tests for various body heights were conducted in a recirculating flow tank at different flow speeds and fin flapping frequencies. When comparing thrust at different body heights, flow speeds, and frequencies to a 'no-body' thrust test case at each frequency and flow speed, data indicate there is no momentum enhancement factor due to the presence of a body on top of an undulating fin. This suggests that if there is a benefit to a specific ratio between body and fin height, it is not due to momentum enhancement.
Environmental contamination, product contamination and workers exposure using a robotic system for antineoplastic drug preparation.

PubMed

Sessink, Paul J M; Leclercq, Gisèle M; Wouters, Dominique-Marie; Halbardier, Loïc; Hammad, Chaïma; Kassoul, Nassima

2015-04-01

Environmental contamination, product contamination and technicians exposure were measured following preparation of iv bags with cyclophosphamide using the robotic system CytoCare. Wipe samples were taken inside CytoCare, in the clean room environment, from vials, and prepared iv bags including ports and analysed for contamination with cyclophosphamide. Contamination with cyclophosphamide was also measured in environmental air and on the technicians hands and gloves used for handling the drugs. Exposure of the technicians to cyclophosphamide was measured by analysis of cyclophosphamide in urine. Contamination with cyclophosphamide was mainly observed inside CytoCare, before preparation, after preparation and after daily routine cleaning. Contamination outside CytoCare was incidentally found. All vials with reconstituted cyclophosphamide entering CytoCare were contaminated on the outside but vials with powdered cyclophosphamide were not contaminated on the outside. Contaminated bags entering CytoCare were also contaminated after preparation but non-contaminated bags were not contaminated after preparation. Cyclophosphamide was detected on the ports of all prepared bags. Almost all outer pairs of gloves used for preparation and daily routine cleaning were contaminated with cyclophosphamide. Cyclophosphamide was not found on the inner pairs of gloves and on the hands of the technicians. Cyclophosphamide was not detected in the stationary and personal air samples and in the urine samples of the technicians. CytoCare enables the preparation of cyclophosphamide with low levels of environmental contamination and product contamination and no measurable exposure of the technicians. © The Author(s) 2014 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav.
Phoenix Robotic Arm

NASA Technical Reports Server (NTRS)

2007-01-01

A vital instrument on NASA's Phoenix Mars Lander is the robotic arm, which will dig into the icy soil and bring samples back to the science deck of the spacecraft for analysis. In September 2006 at a Lockheed Martin Space Systems clean room facility near Denver, spacecraft technician Billy Jones inspects the arm during the assembly phase of the mission.
Using the robotic arm -- built by the Jet Propulsion Laboratory, Pasadena -- the Phoenix mission will study the history of water and search for complex organic molecules in the ice-rich soil.
The Phoenix mission is led by Principal Investigator Peter H. Smith of the University of Arizona, Tucson, with project management at NASA's Jet Propulsion Laboratory and development partnership with Lockheed Martin Space Systems. International contributions for Phoenix are provided by the Canadian Space Agency, the University of Neuchatel (Switzerland), the University of Copenhagen, and the Max Planck Institute in Germany. JPL is a division of the California Institute of Technology in Pasadena.
Evaluation and Impact of Workflow Interruptions During Robot-assisted Surgery.

PubMed

Allers, Jenna C; Hussein, Ahmed A; Ahmad, Nabeeha; Cavuoto, Lora; Wing, Joseph F; Hayes, Robin M; Hinata, Nobuyuki; Bisantz, Ann M; Guru, Khurshid A

2016-06-01

To analyze and categorize causes for interruptions during robot-assisted surgery. We analyzed 10 robot-assisted prostatectomies that were performed by 3 surgeons from October 2014 to June 2015. Interruptions to surgery were defined in terms of duration, stage of surgery, personnel involved, reasons, and impact of the interruption on the surgical workflow. The main reasons for interruptions included the following: console surgeons switching (29%); preparation of the surgical equipment, such as cleaning or changing the camera (29%) or an instrument (27%); or when a suture, stapler, or clip was needed (12%). The most common interruption duration was 10-29 seconds (47.6%), and the least common interruption duration was greater than 90 seconds (3.6%). Additionally, about 14% of the interruptions were considered avoidable, whereas the remaining 86% of interruptions were necessary for surgery. By identifying and analyzing interruptions, we can develop evidence-based strategies to improve operating room efficiency, lower costs, and advance patient safety. Copyright © 2016 Elsevier Inc. All rights reserved.
Conceptual second-generation lunar equipment

NASA Technical Reports Server (NTRS)

1990-01-01

The spring 1990 Introduction to Design class was asked to conceptually design second-generation lunar vehicles and equipment as a semester design project. The basic assumption made in designing second-generation lunar vehicles and equipment was that a network of permanent lunar bases already existed. The designs were to facilitate the transportation of personnel and materials. The eight topics to choose from included flying vehicles, ground-based vehicles, robotic arms, and life support systems. Two teams of two or three members competed on each topic and results were exhibited at a formal presentation. A clean-propellant powered lunar flying transport vehicle, an extra-vehicular activity life support system, a pressurized lunar rover for greater distances, and a robotic arm design project are discussed.
KSC-02pd1539

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- A diver helps lower sonar mapping equipment into the water alongside the Liberty Star, one of NASA's solid rocket booster retrieval ships. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.
KSC-02pd1540

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- A diver helps lower sonar mapping equipment into the water alongside the Liberty Star, one of NASA's solid rocket booster retrieval ships. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.
KSC-02pd1537

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- Workers on the deck of the Liberty Star, one of NASA's solid rocket booster retrieval ships, help guide sonar mapping equipment toward the side of the ship. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.
Microfabrication of IPMC cilia for bio-inspired flow sensing

NASA Astrophysics Data System (ADS)

Lei, Hong; Li, Wen; Tan, Xiaobo

2012-04-01

As the primary flow sensing organ for fishes, the lateral line system plays a critical role in fish behavior. Analogous to its biological counterpart, an artificial lateral line system, consisting of arrays of micro flow sensors, is expected to be instrumental in the navigation and control of underwater robots. In this paper we investigate the microfabrication of ionic polymer-metal composite (IPMC) cilia for the purpose of flow sensing. While existing macro- and microfabrication methods for IPMCs have predominantly focused on planar structures, we propose a device where micro IPMC beams stand upright on a substrate to effectively interact with the flow. Challenges in the casting of 3D Nafion structure and selective formation of electrodes are discussed, and potential solutions for addressing these challenges are presented together with preliminary microfabrication results.
Organic Contamination Baseline Study in NASA Johnson Space Center Astromaterials Curation Laboratories

NASA Technical Reports Server (NTRS)

Calaway, Michael J.; Allen, Carlton C.; Allton, Judith H.

2014-01-01

Future robotic and human spaceflight missions to the Moon, Mars, asteroids, and comets will require curating astromaterial samples with minimal inorganic and organic contamination to preserve the scientific integrity of each sample. 21st century sample return missions will focus on strict protocols for reducing organic contamination that have not been seen since the Apollo manned lunar landing program. To properly curate these materials, the Astromaterials Acquisition and Curation Office under the Astromaterial Research and Exploration Science Directorate at NASA Johnson Space Center houses and protects all extraterrestrial materials brought back to Earth that are controlled by the United States government. During fiscal year 2012, we conducted a year-long project to compile historical documentation and laboratory tests involving organic investigations at these facilities. In addition, we developed a plan to determine the current state of organic cleanliness in curation laboratories housing astromaterials. This was accomplished by focusing on current procedures and protocols for cleaning, sample handling, and storage. While the intention of this report is to give a comprehensive overview of the current state of organic cleanliness in JSC curation laboratories, it also provides a baseline for determining whether our cleaning procedures and sample handling protocols need to be adapted and/or augmented to meet the new requirements for future human spaceflight and robotic sample return missions.
In-Water Hull Cleaning & Filtration System

NASA Astrophysics Data System (ADS)

George, Dan

2015-04-01

Dan George R & D Mining Technology LinkedIn GRD Franmarine have received the following prestigious awards in 2014 for their research & development of an in-water hull cleaning and filtration system "The Envirocart: Golden Gecko Award for Environmental Excellence; WA Innovator of the Year - Growth Sector; Department of Fisheries - Excellence in Marine Biosecurity Award - Innovation Category; Lloyd's List Asia Awards - Environmental Award; The Australian Innovation Challenge - Environment, Agriculture and Food Category; and Australian Shipping and Maritime Industry Award - Environmental Transport Award. The Envirocart developed and patented by GRD Franmarine is a revolutionary new fully enclosed capture and containment in-water hull cleaning technology. The Envirocart enables soft Silicon based antifouling paints and coatings containing pesticides such as Copper Oxide to be cleaned in situ using a contactless cleaning method. This fully containerised system is now capable of being deployed to remote locations or directly onto a Dive Support Vessel and is rated to offshore specifications. This is the only known method of in-water hull cleaning that complies with the Department of Agriculture Fisheries and Forestry (DAFF) and Department of Fisheries WA (DoF) Guidelines. The primary underwater cleaning tool is a hydraulically powered hull cleaning unit fitted with rotating discs. The discs can be fitted with conventional brushes for glass or epoxy based coatings or a revolutionary new patented blade system which can remove marine biofouling without damaging the antifouling paint (silicone and copper oxide). Additionally there are a patented range of fully enclosed hand cleaning tools for difficult to access niche areas such as anodes and sea chests, providing an innovative total solution that enables in-water cleaning to be conducted in a manner that causes no biological risk to the environment. In full containment mode or when AIS are present, material is pumped through a multi stage filtration unit on the surface. Solids greater than 50 micron are separated through a 1st stage separator and deposited into a disposal bin. Filtrate is then pumped through a series of high flow, back-flushable filters that remove particulate material greater than 5 micron. After the 1st and 2nd stage filtration the filtrate is then disinfected by passing through an automated UV reactor where the treated water is then released back into the ocean. This advancement in hull cleaning technology will allow vessels to be cleaned in areas where dry docking is not possible or viable along with being a preventive measure to reduce Biofouling in the environment. The in-water hull cleaning system certainly has earned its place as being an innovative leader in improving efficiencies and reducing environmental impact. https://www.linkedin.com/groups?mostRecent=&gid=6724648&trk=my_groups-tile-flipgrp
Transient bubbles, bublets and breakup

NASA Astrophysics Data System (ADS)

Keen, Giles; Blake, John

1999-11-01

The non-spherical nature of the collapse of bubbles has important ramifications in many practical situations such as ultrasonic cleaning, tanning of leather, and underwater explosions. In particular the high speed liquid jet that can thread a collapsing bubble is central to the functional performance. An impressive photographic record of a liquid jet was obtained by Crum using a bubble situated in the vicinity of a platform oscillating vertically at a frequency of 60 Hz. A boundary integral method is used to model this situation and is found to closely mimic some of the observations. However, a slight variation of parameters or a change in the phase of the driving frequency can lead to dramatically different bubble behaviour, a feature also observed by Crum.
Swimming performance of a bio-inspired robotic vessel with undulating fin propulsion.

PubMed

Liu, Hanlin; Curet, Oscar M

2018-06-18

Undulatory fin propulsion exhibits high degree of maneuver control -- an ideal for underwater vessels exploring complex environments. In this work, we developed and tested a self-contained, free-swimming robot with a single undulating fin running along the length of the robot, which controls both forward motion and directional maneuvers. We successfully replicated several maneuvers including forward swimming, reversed motion, diving, station-keeping and vertical swimming. For each maneuver, a series of experiments were performed as a function of fin frequency, wavelength and traveling wave direction to measure swimming velocities, orientation angles and mean power consumption. In addition, three-dimensional flow fields were measured during forward swimming and station-keeping using volumetric particle image velocimetry (PIV). The efficiency for forward swimming was compared using three metrics: cost of transport, wave efficiency and Strouhal number. The results indicate that the cost of transport exhibits a V-shape trend with the minimum value at low swimming velocity. The robot can reach optimal wave efficiency and locomotor performance at a range of 0.2 to 0.4 St. Volumetric PIV data reveal the shed of vortex tubes generated by the fin during forward swimming and station keeping. For forward swimming, a series of vortex tubes are shed off the fin edge with a lateral and downward direction with respect to the longitudinal axis of the fin. For station keeping, flow measurements suggest that the vortex tubes are shed at the mid-section of the fin while the posterior and anterior segment of the vortex stay attached to the fin. These results agree with the previous vortex structures based on simulations and 2D PIV. The further development of this vessel with high maneuverability and station keeping performance can be used for oceanography, coastal exploration, defense, oil industry and other marine industries where operations are unsafe or impractical for divers or human-piloted vessels. © 2018 IOP Publishing Ltd.
Reversible switch between underwater superaerophilicity and superaerophobicity on the superhydrophobic nanowire-haired mesh for controlling underwater bubble wettability

NASA Astrophysics Data System (ADS)

Shan, Chao; Yong, Jiale; Yang, Qing; Chen, Feng; Huo, Jinglan; Zhuang, Jian; Jiang, Zhuangde; Hou, Xun

2018-04-01

Controlling the underwater bubble wettability on a solid surface is of great research significance. In this letter, a simple method to achieve reversible switch between underwater superaerophilicity and underwater superaerophobicity on a superhydrophobic nanowire-haired mesh by alternately vacuumizing treatment in water and drying in air is reported. Such reversible switch endows the as-prepared mesh with many functional applications in controlling bubble's behavior on a solid substrate. The underwater superaerophilic mesh is able to absorb/capture bubbles in water, while the superaerophobic mesh has great anti-bubble ability. The reversible switch between underwater superaerophilicity and superaerophobicity can selectively allow bubbles to go through the resultant mesh; that is, bubbles can pass through the underwater superaerophilic mesh while are fully intercepted by the underwater superaerophobic mesh in a water medium. We believe these meshes will have important applications in removing or capturing underwater bubbles/gas.
Underwater Turbulence Detection Using Gated Wavefront Sensing Technique

PubMed Central

Bi, Ying; Xu, Xiping; Chow, Eddy Mun Tik

2018-01-01

Laser sensing has been applied in various underwater applications, ranging from underwater detection to laser underwater communications. However, there are several great challenges when profiling underwater turbulence effects. Underwater detection is greatly affected by the turbulence effect, where the acquired image suffers excessive noise, blurring, and deformation. In this paper, we propose a novel underwater turbulence detection method based on a gated wavefront sensing technique. First, we elaborate on the operating principle of gated wavefront sensing and wavefront reconstruction. We then setup an experimental system in order to validate the feasibility of our proposed method. The effect of underwater turbulence on detection is examined at different distances, and under different turbulence levels. The experimental results obtained from our gated wavefront sensing system indicate that underwater turbulence can be detected and analyzed. The proposed gated wavefront sensing system has the advantage of a simple structure and high detection efficiency for underwater environments. PMID:29518889
Determining Locations by Use of Networks of Passive Beacons

NASA Technical Reports Server (NTRS)

Okino, Clayton; Gray, Andrew; Jennings, Esther

2009-01-01

Networks of passive radio beacons spanning moderate-sized terrain areas have been proposed to aid navigation of small robotic aircraft that would be used to explore Saturn s moon Titan. Such networks could also be used on Earth to aid navigation of robotic aircraft, land vehicles, or vessels engaged in exploration or reconnaissance in situations or locations (e.g., underwater locations) in which Global Positioning System (GPS) signals are unreliable or unavailable. Prior to use, it would be necessary to pre-position the beacons at known locations that would be determined by use of one or more precise independent global navigation system(s). Thereafter, while navigating over the area spanned by a given network of passive beacons, an exploratory robot would use the beacons to determine its position precisely relative to the known beacon positions (see figure). If it were necessary for the robot to explore multiple, separated terrain areas spanned by different networks of beacons, the robot could use a long-haul, relatively coarse global navigation system for the lower-precision position determination needed during transit between such areas. The proposed method of precise determination of position of an exploratory robot relative to the positions of passive radio beacons is based partly on the principles of radar and partly on the principles of radio-frequency identification (RFID) tags. The robot would transmit radar-like signals that would be modified and reflected by the passive beacons. The distance to each beacon would be determined from the roundtrip propagation time and/or round-trip phase shift of the signal returning from that beacon. Signals returned from different beacons could be distinguished by means of their RFID characteristics. Alternatively or in addition, the antenna of each beacon could be designed to radiate in a unique pattern that could be identified by the navigation system. Also, alternatively or in addition, sets of identical beacons could be deployed in unique configurations such that the navigation system could identify their unique combinations of radio-frequency reflections as an alternative to leveraging the uniqueness of the RFID tags. The degree of dimensional accuracy would depend not only on the locations of the beacons but also on the number of beacon signals received, the number of samples of each signal, the motion of the robot, and the time intervals between samples. At one extreme, a single sample of the return signal from a single beacon could be used to determine the distance from that beacon and hence to determine that the robot is located somewhere on a sphere, the radius of which equals that distance and the center of which lies at the beacon. In a less extreme example, the three-dimensional position of the robot could be determined with fair precision from a single sample of the signal from each of three beacons. In intermediate cases, position estimates could be refined and/or position ambiguities could be resolved by use of supplementary readings of an altimeter and other instruments aboard the robot.
Continuum robot arms inspired by cephalopods

NASA Astrophysics Data System (ADS)

Walker, Ian D.; Dawson, Darren M.; Flash, Tamar; Grasso, Frank W.; Hanlon, Roger T.; Hochner, Binyamin; Kier, William M.; Pagano, Christopher C.; Rahn, Christopher D.; Zhang, Qiming M.

2005-05-01

In this paper, we describe our recent results in the development of a new class of soft, continuous backbone ("continuum") robot manipulators. Our work is strongly motivated by the dexterous appendages found in cephalopods, particularly the arms and suckers of octopus, and the arms and tentacles of squid. Our ongoing investigation of these animals reveals interesting and unexpected functional aspects of their structure and behavior. The arrangement and dynamic operation of muscles and connective tissue observed in the arms of a variety of octopus species motivate the underlying design approach for our soft manipulators. These artificial manipulators feature biomimetic actuators, including artificial muscles based on both electro-active polymers (EAP) and pneumatic (McKibben) muscles. They feature a "clean" continuous backbone design, redundant degrees of freedom, and exhibit significant compliance that provides novel operational capacities during environmental interaction and object manipulation. The unusual compliance and redundant degrees of freedom provide strong potential for application to delicate tasks in cluttered and/or unstructured environments. Our aim is to endow these compliant robotic mechanisms with the diverse and dexterous grasping behavior observed in octopuses. To this end, we are conducting fundamental research into the manipulation tactics, sensory biology, and neural control of octopuses. This work in turn leads to novel approaches to motion planning and operator interfaces for the robots. The paper describes the above efforts, along with the results of our development of a series of continuum tentacle-like robots, demonstrating the unique abilities of biologically-inspired design.
KSC-02pd1538

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- Workers on the deck of the Liberty Star, one of NASA's solid rocket booster retrieval ships, as well as divers in the water, help lower sonar mapping equipment alongside the ship. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.
KSC-03pd1375

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Onboard the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance, .Dr. Grant Gilmore holds some of the equipment to be used on an undersea expedition. Gilmore is co-principle investigator of the Passive Acoustic Monitoring System (PAMS), part of the equipment. NASA/KSC is participating in the expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
KSC-02pd1536

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- Workers on the deck of the Liberty Star, one of NASA's solid rocket booster retrieval ships, oversee the lifting of sonar mapping equipment from the deck toward the side of the ship. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.

Taiwan's underwater cultural heritage documentation management

NASA Astrophysics Data System (ADS)

Tung, Y.-Y.

2015-09-01

Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.
46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...
46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 7 2013-10-01 2013-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...
46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 7 2014-10-01 2014-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...
46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...
46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 7 2012-10-01 2012-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...
Network Computing for Distributed Underwater Acoustic Sensors

DTIC Science & Technology

2014-03-31

underwater sensor network with mobility. In preparation. [3] EvoLogics (2013), Underwater Acoustic Modems, (Product Information Guide... Wireless Communications, 9(9), 2934–2944. [21] Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks ... Network Computing for Distributed Underwater Acoustic Sensors M. Barbeau E. Kranakis
History of remote operations and robotics in nuclear facilities

DOE Office of Scientific and Technical Information (OSTI.GOV)

Herndon, J.N.

1992-01-01

The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less
Stability analysis of hybrid-driven underwater glider

NASA Astrophysics Data System (ADS)

Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

2017-10-01

Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.
Dynamic features of bubble induced by a nanosecond pulse laser in still and flowing water

NASA Astrophysics Data System (ADS)

Charee, Wisan; Tangwarodomnukun, Viboon

2018-03-01

Underwater laser ablation techniques have been developed and employed to synthesis nanoparticles, to texture workpiece surface and to assist the material removal in laser machining process. However, the understanding of laser-material-water interactions, bubble formation and effects of water flow on ablation performance has still been very limited. This paper thus aims at exploring the formation and collapse of bubbles during the laser ablation of silicon in water. The effects of water flow rate on bubble formation and its consequences to the laser disturbance and cut features obtained in silicon were observed by using a high speed camera. A nanosecond pulse laser emitting the laser pulse energy of 0.2-0.5 mJ was employed in the experiment. The results showed that the bubble size was found to increase with the laser pulse energy. The use of high water flow rate can importantly facilitate the ejection of ablated particles from the workpiece surface, hence resulting in less deposition to the work surface and minimizing any disturbance to the laser beam during the ablation in water. Furthermore, a clean micro-groove in silicon wafer can successfully be produced when the process was performed in the high water flow rate condition. The findings of this study could provide an essential guideline for process selection, control and improvement in the laser micro-/submicro-fabrication using the underwater technique.
What do we do with all this video? Better understanding public engagement for image and video annotation

NASA Astrophysics Data System (ADS)

Wiener, C.; Miller, A.; Zykov, V.

2016-12-01

Advanced robotic vehicles are increasingly being used by oceanographic research vessels to enable more efficient and widespread exploration of the ocean, particularly the deep ocean. With cutting-edge capabilities mounted onto robotic vehicles, data at high resolutions is being generated more than ever before, enabling enhanced data collection and the potential for broader participation. For example, high resolution camera technology not only improves visualization of the ocean environment, but also expands the capacity to engage participants remotely through increased use of telepresence and virtual reality techniques. Schmidt Ocean Institute is a private, non-profit operating foundation established to advance the understanding of the world's oceans through technological advancement, intelligent observation and analysis, and open sharing of information. Telepresence-enabled research is an important component of Schmidt Ocean Institute's science research cruises, which this presentation will highlight. Schmidt Ocean Institute is one of the only research programs that make their entire underwater vehicle dive series available online, creating a collection of video that enables anyone to follow deep sea research in real time. We encourage students, educators and the general public to take advantage of freely available dive videos. Additionally, other SOI-supported internet platforms, have engaged the public in image and video annotation activities. Examples of these new online platforms, which utilize citizen scientists to annotate scientific image and video data will be provided. This presentation will include an introduction to SOI-supported video and image tagging citizen science projects, real-time robot tracking, live ship-to-shore communications, and an array of outreach activities that enable scientists to interact with the public and explore the ocean in fascinating detail.
Improved OTEC System for a Submarine Robot

NASA Technical Reports Server (NTRS)

Chao, Yi; Jones, Jack; Valdez, Thomas

2010-01-01

An ocean thermal energy conversion (OTEC), now undergoing development, is a less-massive, more-efficient means of exploiting the same basic principle as that of the proposed system described in "Alternative OTEC Scheme for a Submarine Robot" (NPO-43500), NASA Tech Briefs, Vol. 33, No. 1 (January 2009), page 50. The proposed system as described previously would be based on the thawing-expansion/freezing-contraction behavior of a wax or perhaps another suitable phase-change material (PCM). The power generated by the system would be used to recharge the batteries in a battery- powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. At one phase of its operational cycle, the previously proposed system would utilize the surface ocean temperature (which lies between 15 and 30 C over most of the Earth) to melt a PCM that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the PCM. The melting or freezing would cause the PCM to expand or contract, respectively, by about 9 volume percent. The PCM would be contained in tubes that would be capable of expanding and contracting with the PCM. The PCM-containing tubes would be immersed in a hydraulic fluid. The expansion and contraction would drive a flow of the hydraulic fluid against a piston that, in turn, would push a rack-and-pinion gear system to spin a generator to charge a battery.
Teleoperation in surgical robotics--network latency effects on surgical performance.

PubMed

Lum, Mitchell J H; Rosen, Jacob; King, Hawkeye; Friedman, Diana C W; Lendvay, Thomas S; Wright, Andrew S; Sinanan, Mika N; Hannaford, Blake

2009-01-01

A teleoperated surgical robotic system allows surgical procedures to be conducted across long distances while utilizing wired and wireless communication with a wide spectrum of performance that may affect the outcome. An open architecture portable surgical robotic system (Raven) was developed for both open and minimally invasive surgery. The system has been the subject of an intensive telesurgical experimental protocol aimed at exploring the boundaries of the system and surgeon performance during a series of field experiments in extreme environments (desert and underwater) teleportation between US, Europe, and Japan as well as lab experiments under synthetic fixed time delay. One standard task (block transfer emulating tissue manipulation) of the Fundamentals of Laparoscopic Surgery (FLS) training kit was used for the experimental protocol. Network characterization indicated a typical time delay in the range of 16-172 ms in field experiments. The results of the lab experiments showed that the completion time of the task as well as the length of the tool tip trajectory significantly increased (alpha< 0.02) as time delay increased in the range of 0-0.5 sec increased. For teleoperation with a time delay of 0.25s and 0.5s the task completion time was lengthened by a factor of 1.45 and 2.04 with respect to no time delay, whereas the length of the tools' trajectory was increased by a factor of 1.28 and 1.53 with respect to no time delay. There were no statistical differences between experienced surgeons and non-surgeons in the number of errors (block drooping) as well as the completion time and the tool tip path length at different time delays.
Alternative OTEC Scheme for a Submarine Robot

NASA Technical Reports Server (NTRS)

Jones, Jack; Chao, Yi

2009-01-01

A proposed system for exploiting the ocean thermal gradient to generate power would be based on the thawing-expansion/ freezing-contraction behavior of a wax or perhaps another suitable phase-change material. The power generated by this system would be used to recharge the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and various depths, measuring temperature and salinity. This proposed system would be an alternative to another proposed ocean thermal energy conversion (OTEC) system that would serve the same purpose but would utilize a thermodynamic cycle in which CO2 would be the working fluid. That system is described in Utilizing Ocean Thermal Energy in a Submarine Robot (NPO-43304), immediately following this brief. The main advantage of this proposed system over the one using CO2 is that it could derive a useful amount of energy from a significantly smaller temperature difference. At one phase of its operational cycle, the system now proposed would utilize the surface ocean temperature (which lies between 15 and 20 C over most of the Earth) to melt a wax (e.g., pentadecane) that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the wax. The melting or freezing causes the wax to expand or contract, respectively, by about 8 volume percent.
A numerical investigation of flow around octopus-like arms: near-wake vortex patterns and force development.

PubMed

Kazakidi, A; Vavourakis, V; Tsakiris, D P; Ekaterinaris, J A

2015-01-01

The fluid dynamics of cephalopods has so far received little attention in the literature, due to their complexity in structure and locomotion. The flow around octopuses, in particular, can be complicated due to their agile and dexterous arms, which frequently display some of the most diverse mechanisms of motion. The study of this flow amounts to a specific instance of the hydrodynamics problem for rough tapered cylinder geometries. The outstanding manipulative and locomotor skills of octopuses could inspire the development of advanced robotic arms, able to operate in fluid environments. Our primary aim was to study the hydrodynamic characteristics of such bio-inspired robotic models and to derive the hydrodynamic force coefficients as a concise description of the vortical flow effects. Utilizing computational fluid dynamic methods, the coefficients were computed on realistic morphologies of octopus-like arm models undergoing prescribed solid-body movements; such motions occur in nature for short durations in time, e.g. during reaching movements and exploratory behaviors. Numerical simulations were performed on translating, impulsively rotating, and maneuvering arms, around which the flow field structures were investigated. The results reveal in detail the generation of complex vortical flow structures around the moving arms. Hydrodynamic forces acting on a translating arm depend on the angle of incidence; forces generated during impulsive rotations of the arms are independent of their exact morphology and the angle of rotation; periodic motions based on a slow recovery and a fast power stroke are able to produce considerable propulsive thrust while harmonic motions are not. Parts of these results have been employed in bio-inspired models of underwater robotic mechanisms. This investigation may further assist elucidating the hydrodynamics underlying aspects of octopus locomotion and exploratory behaviors.
Methods and Systems for Configuring Sensor Acquisition Based on Pressure Steps

NASA Technical Reports Server (NTRS)

DeDonato, Mathew (Inventor)

2015-01-01

Technologies are provided for underwater measurements. A system includes an underwater vessels including: a plurality of sensors disposed thereon for measuring underwater properties; and a programmable controller configured to selectively activate the plurality of sensors based at least in part on underwater pressure. A user may program at what pressure ranges certain sensors are activated to measure selected properties, and may also program the ascent/descent rate of the underwater vessel, which is correlated with the underwater pressure.
Marine pollution: an overview

NASA Astrophysics Data System (ADS)

Valentukevičienė, Marina; Brannvall, Evelina

2008-01-01

This overview of marine pollution follows the methodology as proposed below. Firstly, well-known databases (Science Direct, GeoRef, SpringerLINK, etc.) on technological research were studied. All collected references were divided into 27 sections following the key words associated with marine pollution, oil spills, alien species migration, etc. The most commercially promising research and development (R & D) activities seem to be market-oriented sections: detection of oil spills at sea, containment and recovery of floating oil at sea, detection of oil spills on land, disposal of oil and debris on land, alien species migration prevention from ballast water and underwater hull cleaning in water, NOx and SOx emissions, pollutions from ship-building and repair, and biogeochemical modelling. Great market demands for commercially patented innovations are very attractive for initiating new R & D projects.
Visual training improves underwater vision in children.

PubMed

Gislén, Anna; Warrant, Eric J; Dacke, Marie; Kröger, Ronald H H

2006-10-01

Children in a tribe of sea-gypsies from South-East Asia have been found to have superior underwater vision compared to European children. In this study, we show that the improved underwater vision of these Moken children is not due to better contrast sensitivity in general. We also show that European children can achieve the same underwater acuity as the Moken children. After 1 month of underwater training (11 sessions) followed by 4 months with no underwater activities, European children showed improved underwater vision and distinct bursts of pupil constriction. When tested 8 months after the last training session in an outdoor pool in bright sunlight-comparable to light environments in South-East Asia-the children had attained the same underwater acuity as the sea-gypsy children. The achieved performance can be explained by the combined effect of pupil constriction and strong accommodation.
An Underwater Color Image Quality Evaluation Metric.

PubMed

Yang, Miao; Sowmya, Arcot

2015-12-01

Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.
Optimal Scheduling for Underwater Communications in Multiple-user Scenarios

DTIC Science & Technology

2014-09-30

underwater acoustic sensor networks . These techniques aim at consuming as less energy as... underwater acoustic networks disrupt the behavior of surrounding species of marine mammals. As a consequence of these two studies, we aim at developing...Markov models of incremental redundancy hybrid ARQ over underwater acoustic channels. Elsevier Journal on Ad-hoc Networks (Special Issue on Underwater Communications and Networks ), 2014. 4

Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2014-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks , through innovative signal processing, coding, and...4. TITLE AND SUBTITLE Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and...coding: 3) OFDM modulated dynamic coded cooperation in underwater acoustic channels; 3 Localization, Networking , and Testbed: 4) On-demand
Simultaneous adaptation to size, distance, and curvature underwater.

PubMed

Vernoy, M W

1989-02-01

Perceptual adaptation to underwater size, distance, and curvature distortion was measured for four different adaptation conditions. These conditions consisted of (a) playing Chinese checkers underwater, (b) swimming with eyes open underwater, (c) viewing a square underwater, and (d) an air control. Significant adaptation to underwater distortions was recorded in all except the air control condition. In the viewing square condition a positive correlation between size and distance adaptation was noted. It was suggested that adaptation to curvature may have mediated the positive correlation. Possible applications for the training of divers are discussed.
AURP: An AUV-Aided Underwater Routing Protocol for Underwater Acoustic Sensor Networks

PubMed Central

Yoon, Seokhoon; Azad, Abul K.; Oh, Hoon; Kim, Sunghwan

2012-01-01

Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved. PMID:22438740
AURP: an AUV-aided underwater routing protocol for underwater acoustic sensor networks.

PubMed

Yoon, Seokhoon; Azad, Abul K; Oh, Hoon; Kim, Sunghwan

2012-01-01

Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved.
KSC-03pd1379

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Andrew Shepard, expedition leader, National Undersea Research Center, University of North Carolina at Wilmington, N. Car., poses on deck of the Liberty Star with some of the equipment to be used in the Oculina Banks project. The ship will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. He and other scientists will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.
Aurelia aurita bio-inspired tilt sensor

NASA Astrophysics Data System (ADS)

Smith, Colin; Villanueva, Alex; Priya, Shashank

2012-10-01

The quickly expanding field of mobile robots, unmanned underwater vehicles, and micro-air vehicles urgently needs a cheap and effective means for measuring vehicle inclination. Commonly, tilt or inclination has been mathematically derived from accelerometers; however, there is inherent error in any indirect measurement. This paper reports a bio-inspired tilt sensor that mimics the natural balance organ of jellyfish, called the ‘statocyst’. Biological statocysts from the species Aurelia aurita were characterized by scanning electron microscopy to investigate the morphology and size of the natural sensor. An artificial tilt sensor was then developed by using printed electronics that incorporates a novel voltage divider concept in conjunction with small surface mount devices. This sensor was found to have minimum sensitivity of 4.21° with a standard deviation of 1.77°. These results open the possibility of developing elegant tilt sensor architecture for both air and water based platforms.
European scientific notes. Volume 38. Number 1. Monthly publication

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shaffer, L.E.

1984-01-01

Topics include: Gender-mixed Crews on Dutch Combat Ships; Max-Planck-Institute for Psycholinguistics; Cancer Therapy with Magnetism; 9th European Underwater Biomedical Society Convention; International Center for Genetic Engineering and Biotechnology; Biotechnological Route to Polyphenylene; 2nd Romania-US Seminar on Polymer Chemistry; Statistical Climatology; A Code for Generating Dynamic Models of Robots; Fifth Generation Computing Systems; New Data Logger; Erosion by Liquid and Solid Impact, ELSI VI; Physical Chemistry of the Solid State -- Metals and alloys; NATO Buys a New Oceanographic Research Vessel; Oceanexpo/Oceantropigues 1984; Progress in Development of Wave Energy to Generate Electricity; IAPSO Symposia and Oceanography at the 18th IUGG; Newmore » Decision Support System; High Energy Channeling Research in Switzerland; Muon-Catalyzed Fusion; 2nd International Symposium on Acoustic Remote Sensing of the Atmosphere and Ocean; and Support of Science Research by the British Military.« less
Computer-Aided Remote Driving

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

1994-01-01

System for remote control of robotic land vehicle requires only small radio-communication bandwidth. Twin video cameras on vehicle create stereoscopic images. Operator views cross-polarized images on two cathode-ray tubes through correspondingly polarized spectacles. By use of cursor on frozen image, remote operator designates path. Vehicle proceeds to follow path, by use of limited degree of autonomous control to cope with unexpected conditions. System concept, called "computer-aided remote driving" (CARD), potentially useful in exploration of other planets, military surveillance, firefighting, and clean-up of hazardous materials.
Virtual Reality Pain Control During Burn Wound Debridement of Combat-Related Burn Injuries Using Robot-Like Arm Mounted VR Goggles

DTIC Science & Technology

2011-07-01

naturally contracts as it heals. Physical therapy stretches help to counteract contraction, increasing skin elasticity, and en- hancing range of motion.3...excru- ciating pain during medical procedures such as wound clean- ing and physical therapy .4 Although opioids are the cornerstone analgesic for patients...Used at low doses, ketamine is a non-barbiturate intravenous anesthetic that is used as part of a multi-modal therapy . Ketamine does not cause
New nonlinear features for inspection, robotics, and face recognition

NASA Astrophysics Data System (ADS)

Casasent, David P.; Talukder, Ashit

1999-10-01

Classification of real-time X-ray images of randomly oriented touching pistachio nuts is discussed. The ultimate objective is the development of a system for automated non- invasive detection of defective product items on a conveyor belt. We discuss the extraction of new features that allow better discrimination between damaged and clean items (pistachio nuts). This feature extraction and classification stage is the new aspect of this paper; our new maximum representation and discriminating feature (MRDF) extraction method computes nonlinear features that are used as inputs to a new modified k nearest neighbor classifier. In this work, the MRDF is applied to standard features (rather than iconic data). The MRDF is robust to various probability distributions of the input class and is shown to provide good classification and new ROC (receiver operating characteristic) data. Other applications of these new feature spaces in robotics and face recognition are also noted.
Vehicle Based Vector Sensor

DTIC Science & Technology

2015-09-28

buoyant underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength...underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength; an...unmanned underwater vehicle that can function as an acoustic vector sensor. (2) Description of the Prior Art [0004] It is known that a propagating
Unsteady hydrodynamic forces acting on a robotic arm and its flow field: application to the crawl stroke.

PubMed

Takagi, Hideki; Nakashima, Motomu; Ozaki, Takashi; Matsuuchi, Kazuo

2014-04-11

This study aims to clarify the mechanisms by which unsteady hydrodynamic forces act on the hand of a swimmer during a crawl stroke. Measurements were performed for a hand attached to a robotic arm with five degrees of freedom independently controlled by a computer. The computer was programmed so the hand and arm mimicked a human performing the stroke. We directly measured forces on the hand and pressure distributions around it at 200 Hz; flow fields underwater near the hand were obtained via 2D particle image velocimetry (PIV). The data revealed two mechanisms that generate unsteady forces during a crawl stroke. One is the unsteady lift force generated when hand movement changes direction during the stroke, leading to vortex shedding and bound vortex created around it. This bound vortex circulation results in a lift that contributes to the thrust. The other occurs when the hand moves linearly with a large angle of attack, creating a Kármán vortex street. This street alternatively sheds clockwise and counterclockwise vortices, resulting in a quasi-steady drag contributing to the thrust. We presume that professional swimmers benefit from both mechanisms. Further studies are necessary in which 3D flow fields are measured using a 3D PIV system and a human swimmer. Copyright © 2014 Elsevier Ltd. All rights reserved.
STEM Beyond The Classroom: Creating Authentic Outreach Programs That Build Bridges Between The Classroom And Real World Challenges

NASA Astrophysics Data System (ADS)

Ibarra, D. L.; Forder, S. E.; Pritchard, M.

2014-12-01

The ISF Academy was founded by Charles Kao, a Nobel Prize laureate. In 2011, the Shuyuan programs were established at The ISF Academy to operate both as a "school within a school" and as a "school outside the classroom." The Shuyuan programs work together with the IBO Science and Technology subject areas to develop comprehensive and challenging opportunities that address the 14 Grand Engineering Challenges. The goal is to establish co-curricular programs that go beyond the taught curriculum and support STEM curricula. Several programs outside of the classroom include an onsite robotics researcher, underwater and land based robotics programs, field trips, whole school food waste composting and the implementation of an energy tracking system. Relationships with several local universities allow students to work closely with professors in research settings and, annually, a leading researcher gives a keynote speech to our students. Other signature Shuyuan programs have developed international strategic relationships with the NRI at Cambridge University, where students spend several weeks studying science and civilization in China using primary source materials. Additionally, Shuyuan has supported extension opportunities for classroom teachers with institutional partnerships that include the British Council, governmental organizations, local universities, corporations, and NGOs. In conclusion, the overall goal of the Shuyuan Programs is to provide experiential learning opportunities that challenge conventional curriculum design in a manner that is supportive and innovative!
PLRP-3: Operational Perspectives of Conducting Science-Driven Extravehicular Activity with Communications Latency

NASA Technical Reports Server (NTRS)

Miller, Matthew J.; Lim, Darlene S. S.; Brady, Allyson; Cardman, Zena; Bell, Ernest; Garry, Brent; Reid, Donnie; Chappell, Steve; Abercromby, Andrew F. J.

2016-01-01

The Pavilion Lake Research Project (PLRP) is a unique platform where the combination of scientific research and human space exploration concepts can be tested in an underwater spaceflight analog environment. The 2015 PLRP field season was performed at Pavilion Lake, Canada, where science-driven exploration techniques focusing on microbialite characterization and acquisition were evaluated within the context of crew and robotic extravehicular activity (EVA) operations. The primary objectives of this analog study were to detail the capabilities, decision-making process, and operational concepts required to meet non-simulated scientific objectives during 5-minute one-way communication latency utilizing crew and robotic assets. Furthermore, this field study served as an opportunity build upon previous tests at PLRP, NASA Desert Research and Technology Studies (DRATS), and NASA Extreme Environment Mission Operations (NEEMO) to characterize the functional roles and responsibilities of the personnel involved in the distributed flight control team and identify operational constraints imposed by science-driven EVA operations. The relationship and interaction between ground and flight crew was found to be dependent on the specific scientific activities being addressed. Furthermore, the addition of a second intravehicular operator was found to be highly enabling when conducting science-driven EVAs. Future human spaceflight activities will need to cope with the added complexity of dynamic and rapid execution of scientific priorities both during and between EVA execution to ensure scientific objectives are achieved.
RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments

PubMed Central

Qureshi, Umair Mujtaba; Shaikh, Faisal Karim; Aziz, Zuneera; Shah, Syed M. Zafi S.; Sheikh, Adil A.; Felemban, Emad; Qaisar, Saad Bin

2016-01-01

Underwater Wireless Sensor Network (UWSN) communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM) signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW) at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water) environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss) of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz. PMID:27322263
Determining spherical lens correction for astronaut training underwater.

PubMed

Porter, Jason; Gibson, C Robert; Strauss, Samuel

2011-09-01

To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of <0.25 D between values. We devised a model to calculate the spherical spectacle lens correction needed to be worn underwater by National Aeronautics and Space Administration astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.
Determining spherical lens correction for astronaut training underwater

PubMed Central

Porter, Jason; Gibson, C. Robert; Strauss, Samuel

2013-01-01

Purpose To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration (NASA) astronauts while training underwater. The replica space suit’s helmet contains curved visors that induce refractive power when submersed in water. Methods Anterior surface powers and thicknesses were measured for the helmet’s protective and inside visors. The impact of each visor on the helmet’s refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet’s total induced spherical power underwater and the astronaut’s manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. Results The helmet visors induced a total power of −2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (R = 0.971) with 70% of eyes having a difference in magnitude of < 0.25 D between values. Conclusions We devised a model to calculate the spherical spectacle lens correction needed to be worn underwater by National Aeronautics and Space Administration astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater. PMID:21623249
RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments.

PubMed

Qureshi, Umair Mujtaba; Shaikh, Faisal Karim; Aziz, Zuneera; Shah, Syed M Zafi S; Sheikh, Adil A; Felemban, Emad; Qaisar, Saad Bin

2016-06-16

Underwater Wireless Sensor Network (UWSN) communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM) signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW) at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water) environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss) of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz.
Survey and Recording Technologies in Italian Underwater Cultural Heritage: Research and Public Access Within the Framework of the 2001 UNESCO Convention

NASA Astrophysics Data System (ADS)

Secci, Massimiliano

2017-08-01

The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.
Single underwater image enhancement based on color cast removal and visibility restoration

NASA Astrophysics Data System (ADS)

Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian

2016-05-01

Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.

An Underwater Target Detection System for Electro-Optical Imagery Data

DTIC Science & Technology

2010-06-01

detection and segmentation of underwater mine-like objects in the EO images captured with a CCD-based image sensor. The main focus of this research is to...develop a robust detection algorithm that can be used to detect low contrast and partial underwater objects from the EO imagery with low false alarm rate...underwater target detection I. INTRODUCTION Automatic detection and recognition of underwater objects from EO imagery poses a serious challenge due to poor
46 CFR 167.15-33 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking (UWILD). (a) The Officer in Charge, Marine Inspection (OCMI), may approve an underwater survey instead of..., Marine Inspection submits a recommendation for future underwater surveys, the results of the hull gauging...
Channel analysis for single photon underwater free space quantum key distribution.

PubMed

Shi, Peng; Zhao, Shi-Cheng; Gu, Yong-Jian; Li, Wen-Dong

2015-03-01

We investigate the optical absorption and scattering properties of underwater media pertinent to our underwater free space quantum key distribution (QKD) channel model. With the vector radiative transfer theory and Monte Carlo method, we obtain the attenuation of photons, the fidelity of the scattered photons, the quantum bit error rate, and the sifted key generation rate of underwater quantum communication. It can be observed from our simulations that the most secure single photon underwater free space QKD is feasible in the clearest ocean water.
Integrated Monitoring of Mola mola Behaviour in Space and Time.

PubMed

Sousa, Lara L; López-Castejón, Francisco; Gilabert, Javier; Relvas, Paulo; Couto, Ana; Queiroz, Nuno; Caldas, Renato; Dias, Paulo Sousa; Dias, Hugo; Faria, Margarida; Ferreira, Filipe; Ferreira, António Sérgio; Fortuna, João; Gomes, Ricardo Joel; Loureiro, Bruno; Martins, Ricardo; Madureira, Luis; Neiva, Jorge; Oliveira, Marina; Pereira, João; Pinto, José; Py, Frederic; Queirós, Hugo; Silva, Daniel; Sujit, P B; Zolich, Artur; Johansen, Tor Arne; de Sousa, João Borges; Rajan, Kanna

2016-01-01

Over the last decade, ocean sunfish movements have been monitored worldwide using various satellite tracking methods. This study reports the near-real time monitoring of fine-scale (< 10 m) behaviour of sunfish. The study was conducted in southern Portugal in May 2014 and involved satellite tags and underwater and surface robotic vehicles to measure both the movements and the contextual environment of the fish. A total of four individuals were tracked using custom-made GPS satellite tags providing geolocation estimates of fine-scale resolution. These accurate positions further informed sunfish areas of restricted search (ARS), which were directly correlated to steep thermal frontal zones. Simultaneously, and for two different occasions, an Autonomous Underwater Vehicle (AUV) video-recorded the path of the tracked fish and detected buoyant particles in the water column. Importantly, the densities of these particles were also directly correlated to steep thermal gradients. Thus, both sunfish foraging behaviour (ARS) and possibly prey densities, were found to be influenced by analogous environmental conditions. In addition, the dynamic structure of the water transited by the tracked individuals was described by a Lagrangian modelling approach. The model informed the distribution of zooplankton in the region, both horizontally and in the water column, and the resultant simulated densities positively correlated with sunfish ARS behaviour estimator (rs = 0.184, p<0.001). The model also revealed that tracked fish opportunistically displace with respect to subsurface current flow. Thus, we show how physical forcing and current structure provide a rationale for a predator's fine-scale behaviour observed over a two weeks in May 2014.
Integrated Monitoring of Mola mola Behaviour in Space and Time

PubMed Central

Sousa, Lara L.; López-Castejón, Francisco; Gilabert, Javier; Relvas, Paulo; Couto, Ana; Queiroz, Nuno; Caldas, Renato; Dias, Paulo Sousa; Dias, Hugo; Faria, Margarida; Ferreira, Filipe; Ferreira, António Sérgio; Fortuna, João; Gomes, Ricardo Joel; Loureiro, Bruno; Martins, Ricardo; Madureira, Luis; Neiva, Jorge; Oliveira, Marina; Pereira, João; Pinto, José; Py, Frederic; Queirós, Hugo; Silva, Daniel; Sujit, P. B.; Zolich, Artur; Johansen, Tor Arne; de Sousa, João Borges; Rajan, Kanna

2016-01-01

Over the last decade, ocean sunfish movements have been monitored worldwide using various satellite tracking methods. This study reports the near-real time monitoring of fine-scale (< 10 m) behaviour of sunfish. The study was conducted in southern Portugal in May 2014 and involved satellite tags and underwater and surface robotic vehicles to measure both the movements and the contextual environment of the fish. A total of four individuals were tracked using custom-made GPS satellite tags providing geolocation estimates of fine-scale resolution. These accurate positions further informed sunfish areas of restricted search (ARS), which were directly correlated to steep thermal frontal zones. Simultaneously, and for two different occasions, an Autonomous Underwater Vehicle (AUV) video-recorded the path of the tracked fish and detected buoyant particles in the water column. Importantly, the densities of these particles were also directly correlated to steep thermal gradients. Thus, both sunfish foraging behaviour (ARS) and possibly prey densities, were found to be influenced by analogous environmental conditions. In addition, the dynamic structure of the water transited by the tracked individuals was described by a Lagrangian modelling approach. The model informed the distribution of zooplankton in the region, both horizontally and in the water column, and the resultant simulated densities positively correlated with sunfish ARS behaviour estimator (rs = 0.184, p<0.001). The model also revealed that tracked fish opportunistically displace with respect to subsurface current flow. Thus, we show how physical forcing and current structure provide a rationale for a predator’s fine-scale behaviour observed over a two weeks in May 2014. PMID:27494028
Inactivation of Escherichia coli and Staphylococcus aureus on contaminated perilla leaves by Dielectric Barrier Discharge (DBD) plasma treatment.

PubMed

Ji, Sang Hye; Ki, Se Hoon; Ahn, Ji Ho; Shin, Jae Ho; Hong, Eun Jeong; Kim, Yun Ji; Choi, Eun Ha

2018-04-02

This study focused on sterilization methods for the reduction of microorganisms on perilla leaves by cylinder type Dielectric Barrier Discharge (DBD) plasma with underwater bubbler treatment. S. aureus and E. coli in a suspension were reduced to less than 3.4 and 0.5 log CFU/ml after the plasma treatment for 3 min, respectively. On the perilla leaves, they were also reduced to 4.8 and 1.6 log CFU/ml after the plasma treatment, respectively. The S. aureus and E. coli bacterial cell wall was damaged by the plasma treatment evident by scanning electron microscopic analysis. The observed infrared bands of the FTIR spectra demonstrated changes in protein, lipid, polysaccharide, polyphosphate group and other carbohydrate functionalities of plasma treated bacteria and untreated bacterial cell membranes. The degradation of the constituent bonds of the bacterial cell membrane by RONS generated from plasma destroys the DNA, RNA, and proteins within the cell, and may eventually cause cell death. In this study, H 2 O 2 (13.68 μM) and NO 3 (138 μM), which are the main factors generated by plasma, proved to have a bactericidal effect by inducing lipid peroxidation of bacterial cell membranes. In conclusion, cylinder type DBD plasma with underwater bubbler can be used as an environmentally friendly food disinfection device in cleaning processes of the food industry. Copyright © 2018 Elsevier Inc. All rights reserved.
Fabrication of rectangular cross-sectional microchannels on PMMA with a CO2 laser and underwater fabricated copper mask

NASA Astrophysics Data System (ADS)

Prakash, Shashi; Kumar, Subrata

2017-09-01

CO2 lasers are commonly used for fabricating polymer based microfluidic devices. Despite several key advantages like low cost, time effectiveness, easy to operate and no requirement of clean room facility, CO2 lasers suffer from few disadvantages like thermal bulging, improper dimensional control, difficulty to produce microchannels of other than Gaussian cross sectional shapes and inclined surface walls. Many microfluidic devices require square or rectangular cross-sections which are difficult to produce using normal CO2 laser procedures. In this work, a thin copper sheet of 40 μm was used as a mask above the PMMA (Polymethyl-methacrylate) substrate while fabricating the microchannels utilizing the raster scanning feature of the CO2 lasers. Microchannels with different width dimensions were fabricated utilizing a CO2 laser in with mask and without-mask conditions. A comparison of both the fabricating process has been made. It was found that microchannels with U shape cross section and rectangular cross-section can efficiently be produced using the with mask technique. In addition to this, this technique can provide perfect dimensional control and better surface quality of the microchannel walls. Such a microchannel fabrication process do not require any post-processing. The fabrication of mask using a nanosecond fiber laser has been discussed in details. An underwater laser fabrication method was adopted to overcome heat related defects in mask preparation. Overall, the technique was found to be easy to adopt and significant improvements were observed in microchannel fabrication.
Experimental and numerical study on bubble-sphere interaction near a rigid wall

NASA Astrophysics Data System (ADS)

Li, S.; Zhang, A. M.; Han, R.; Liu, Y. Q.

2017-09-01

This study is concerned with the interaction between a violently oscillating bubble and a movable sphere with comparable size near a rigid wall, which is an essential physical phenomenon in many applications such as cavitation, underwater explosion, ultrasonic cleaning, and biomedical treatment. Experiments are performed in a cubic water tank, and the underwater electric discharge technique (580 V DC) is employed to generate a bubble that is initiated between a rigid wall and a sphere in an axisymmetric configuration. The bubble-sphere interactions are captured using a high-speed camera operating at 52 000 frames/s. A classification of the bubble-sphere interaction is proposed, i.e., "weak," "intermediate," and "strong" interactions, identified with three distinct bubble shapes at the maximum volume moment. In the numerical simulations, the boundary integral method and the auxiliary function method are combined to establish a full coupling model that decouples the mutual dependence between the force and the sphere motion. The main features of bubble dynamics in different experiments are well reproduced by our numerical model. Meanwhile, the pressure and velocity fields are also provided for clarifying the associated mechanisms. The effects of two dimensionless standoff parameters, namely, γs (defined as ds/Rm, where ds is the minimum distance between the initial bubble center and the sphere surface and Rm is the maximum bubble radius) and γw (defined as dw/Rm, where dw is the distance between the initial bubble center and the rigid wall), are also discussed.
Optimized decoy state QKD for underwater free space communication

NASA Astrophysics Data System (ADS)

Lopes, Minal; Sarwade, Nisha

Quantum cryptography (QC) is envisioned as a solution for global key distribution through fiber optic, free space and underwater optical communication due to its unconditional security. In view of this, this paper investigates underwater free space quantum key distribution (QKD) model for enhanced transmission distance, secret key rates and security. It is reported that secure underwater free space QKD is feasible in the clearest ocean water with the sifted key rates up to 207kbps. This paper extends this work by testing performance of optimized decoy state QKD protocol with underwater free space communication model. The attenuation of photons, quantum bit error rate and the sifted key generation rate of underwater quantum communication is obtained with vector radiative transfer theory and Monte Carlo method. It is observed from the simulations that optimized decoy state QKD evidently enhances the underwater secret key transmission distance as well as secret key rates.
Biomimetics inspired surfaces for drag reduction and oleophobicity/philicity.

PubMed

Bhushan, Bharat

2011-01-01

The emerging field of biomimetics allows one to mimic biology or nature to develop nanomaterials, nanodevices, and processes which provide desirable properties. Hierarchical structures with dimensions of features ranging from the macroscale to the nanoscale are extremely common in nature and possess properties of interest. There are a large number of objects including bacteria, plants, land and aquatic animals, and seashells with properties of commercial interest. Certain plant leaves, such as lotus (Nelumbo nucifera) leaves, are known to be superhydrophobic and self-cleaning due to the hierarchical surface roughness and presence of a wax layer. In addition to a self-cleaning effect, these surfaces with a high contact angle and low contact angle hysteresis also exhibit low adhesion and drag reduction for fluid flow. An aquatic animal, such as a shark, is another model from nature for the reduction of drag in fluid flow. The artificial surfaces inspired from the shark skin and lotus leaf have been created, and in this article the influence of structure on drag reduction efficiency is reviewed. Biomimetic-inspired oleophobic surfaces can be used to prevent contamination of the underwater parts of ships by biological and organic contaminants, including oil. The article also reviews the wetting behavior of oil droplets on various superoleophobic surfaces created in the lab.
Biomimetics inspired surfaces for drag reduction and oleophobicity/philicity

PubMed Central

2011-01-01

Summary The emerging field of biomimetics allows one to mimic biology or nature to develop nanomaterials, nanodevices, and processes which provide desirable properties. Hierarchical structures with dimensions of features ranging from the macroscale to the nanoscale are extremely common in nature and possess properties of interest. There are a large number of objects including bacteria, plants, land and aquatic animals, and seashells with properties of commercial interest. Certain plant leaves, such as lotus (Nelumbo nucifera) leaves, are known to be superhydrophobic and self-cleaning due to the hierarchical surface roughness and presence of a wax layer. In addition to a self-cleaning effect, these surfaces with a high contact angle and low contact angle hysteresis also exhibit low adhesion and drag reduction for fluid flow. An aquatic animal, such as a shark, is another model from nature for the reduction of drag in fluid flow. The artificial surfaces inspired from the shark skin and lotus leaf have been created, and in this article the influence of structure on drag reduction efficiency is reviewed. Biomimetic-inspired oleophobic surfaces can be used to prevent contamination of the underwater parts of ships by biological and organic contaminants, including oil. The article also reviews the wetting behavior of oil droplets on various superoleophobic surfaces created in the lab. PMID:21977417
46 CFR 169.229 - Drydock examination, internal structural examination, and underwater survey intervals.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., and underwater survey intervals. 169.229 Section 169.229 Shipping COAST GUARD, DEPARTMENT OF HOMELAND... Hauling Out § 169.229 Drydock examination, internal structural examination, and underwater survey... period unless it has been approved to undergo an underwater survey (UWILD) under § 169.230 of this part...
Underwater fiber-wireless communication with a passive front end

NASA Astrophysics Data System (ADS)

Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

2017-11-01

We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.
AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: report of Task Group 192.

PubMed

Podder, Tarun K; Beaulieu, Luc; Caldwell, Barrett; Cormack, Robert A; Crass, Jostin B; Dicker, Adam P; Fenster, Aaron; Fichtinger, Gabor; Meltsner, Michael A; Moerland, Marinus A; Nath, Ravinder; Rivard, Mark J; Salcudean, Tim; Song, Danny Y; Thomadsen, Bruce R; Yu, Yan

2014-10-01

In the last decade, there have been significant developments into integration of robots and automation tools with brachytherapy delivery systems. These systems aim to improve the current paradigm by executing higher precision and accuracy in seed placement, improving calculation of optimal seed locations, minimizing surgical trauma, and reducing radiation exposure to medical staff. Most of the applications of this technology have been in the implantation of seeds in patients with early-stage prostate cancer. Nevertheless, the techniques apply to any clinical site where interstitial brachytherapy is appropriate. In consideration of the rapid developments in this area, the American Association of Physicists in Medicine (AAPM) commissioned Task Group 192 to review the state-of-the-art in the field of robotic interstitial brachytherapy. This is a joint Task Group with the Groupe Européen de Curiethérapie-European Society for Radiotherapy & Oncology (GEC-ESTRO). All developed and reported robotic brachytherapy systems were reviewed. Commissioning and quality assurance procedures for the safe and consistent use of these systems are also provided. Manual seed placement techniques with a rigid template have an estimated in vivo accuracy of 3-6 mm. In addition to the placement accuracy, factors such as tissue deformation, needle deviation, and edema may result in a delivered dose distribution that differs from the preimplant or intraoperative plan. However, real-time needle tracking and seed identification for dynamic updating of dosimetry may improve the quality of seed implantation. The AAPM and GEC-ESTRO recommend that robotic systems should demonstrate a spatial accuracy of seed placement ≤1.0 mm in a phantom. This recommendation is based on the current performance of existing robotic brachytherapy systems and propagation of uncertainties. During clinical commissioning, tests should be conducted to ensure that this level of accuracy is achieved. These tests should mimic the real operating procedure as closely as possible. Additional recommendations on robotic brachytherapy systems include display of the operational state; capability of manual override; documented policies for independent check and data verification; intuitive interface displaying the implantation plan and visualization of needle positions and seed locations relative to the target anatomy; needle insertion in a sequential order; robot-clinician and robot-patient interactions robustness, reliability, and safety while delivering the correct dose at the correct site for the correct patient; avoidance of excessive force on radioactive sources; delivery confirmation of the required number or position of seeds; incorporation of a collision avoidance system; system cleaning, decontamination, and sterilization procedures. These recommendations are applicable to end users and manufacturers of robotic brachytherapy systems.
Underwater Advanced Time-Domain Electromagnetic System

DTIC Science & Technology

2017-03-03

SUPPLEMENTARY NOTES 14. ABSTRACT The overall objective of the project is to design , build and demonstrate an underwater advanced time -domain...Description The overall objective of the project is to design , build and demonstrate an underwater advanced time - domain electromagnetic (TEM) system...Electromagnetic System Design (July, 2015), and in the Underwater Advanced Time -Domain Electromagnetic System Evaluation Plan (October, 2016). A
Preparation and combustion of Yugoslavian lignite-water fuel, Task 7.35. Topical report, July 1991--December 1993

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, C.M.; DeWall, R.A.; Ljubicic, B.R.

1994-03-01

Yugoslavia`s interest in lignite-water fuel (LWF) stems from its involvement in an unusual power project at Kovin in northern Serbia. In the early 1980s, Electric Power of Serbia (EPS) proposed constructing a 600-MW power plant that would be fueled by lignite found in deposits along and under the Danube River. Trial underwater mining at Kovin proved that the dredging operation is feasible. The dredging method produces a coal slurry containing 85% to 90% water. Plans included draining the water from the coal, drying it, and then burning it in the pulverized coal plant. In looking for alternative ways to utilizemore » the ``wet coal`` in a more efficient and economical way, a consortium of Yugoslavian companies agreed to assess the conversion of dredged lignite into a LWF using hot-water-drying (HWD) technology. HWD is a high-temperature, nonevaporative drying technique carried out under high pressure in water that permanently alters the structure of low-rank coals. Changes effected by the drying process include irreversible removal of moisture, micropore sealing by tar, and enhancement of heating value by removal of oxygen, thus, enhancement of the slurry ability of the coal with water. Physical cleaning results indicated a 51 wt % reduction in ash content with a 76 wt % yield for the lignite. In addition, physical cleaning produced a cleaned slurry that had a higher attainable solids loading than a raw uncleaned coal slurry. Combustion studies were then performed on the raw and physically cleaned samples with the resulting indicating that both samples were very reactive, making them excellent candidates for HWD. Bench-scale results showed that HWD increased energy densities of the two raw lignite samples by approximately 63% and 81%. An order-of-magnitude cost estimate was conducted to evaluate the HWD and pipeline transport of Kovin LWF to domestic and export European markets. Results are described.« less
Terminal Homing for Autonomous Underwater Vehicle Docking

DTIC Science & Technology

2016-06-01

underwater domain, accurate navigation. Above the water, light and electromagnetic signals travel well through air and space, mediums that allow for a...DISTRIBUTION CODE 13. ABSTRACT The use of docking stations for autonomous underwater vehicles (AUV) provides the ability to keep a vehicle on...Mechanical and Aerospace Engineering iv THIS PAGE INTENTIONALLY LEFT BLANK v ABSTRACT The use of docking stations for autonomous underwater
Underwater Acoustic Beacon Location System

DTIC Science & Technology

2016-12-23

300087 1 of 31 UNDERWATER ACOUSTIC BEACON LOCATION SYSTEM [0001] The present application claims the benefit of United States Provisional...Application Serial Number 62/297,179 filed on February 19, 2016 by the inventor, Steven E. Crocker and entitled “ Underwater Acoustic Beacon...search for and can locate an underwater location beacon. Attorney Docket No. 300087 2 of 31 (2) Description of the Prior Art [0005
Autonomous Adaptive Acoustic Relay Positioning

DTIC Science & Technology

2013-09-01

underwater acoustic sensor networks . In Proc. 1st ACM International Work- shop on Underwater Networks , pages 7–16, 2006. [4] A Alvarez, A...routing in underwater delay/disruption tolerant sensor networks . In Wireless on Demand Network Systems and Services, 2008. WONS 2008. Fifth Annual...the development of multi-vehicle applications in the ocean, and the main mode of wireless data transmission underwater is acoustic .
Non-Data Aided Doppler Shift Estimation for Underwater Acoustic Communication

DTIC Science & Technology

2014-05-01

in underwater acoustic wireless sensor networks . We analyzed the data collected from our experiments using non-data aided (blind) techniques such as...investigated different methods for blind Doppler shift estimation and compensation for a single carrier in underwater acoustic wireless sensor ...distributed underwater sensor networks . Detailed experimental and simulated results based on second order cyclostationary features of the received signals

Global Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks

DTIC Science & Technology

2014-03-31

Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks M.M. Asadi H. Mahboubi A...2014 Global Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks Contract Report # AMBUSH.1.1 Contract...pi j /= 0. The sensor network considered in this work is composed of underwater sensors , which use acoustic waves for
Underwater psychophysical audiogram of a young male California sea lion (Zalophus californianus).

PubMed

Mulsow, Jason; Houser, Dorian S; Finneran, James J

2012-05-01

Auditory evoked potential (AEP) data are commonly obtained in air while sea lions are under gas anesthesia; a procedure that precludes the measurement of underwater hearing sensitivity. This is a substantial limitation considering the importance of underwater hearing data in designing criteria aimed at mitigating the effects of anthropogenic noise exposure. To determine if some aspects of underwater hearing sensitivity can be predicted using rapid aerial AEP methods, this study measured underwater psychophysical thresholds for a young male California sea lion (Zalophus californianus) for which previously published aerial AEP thresholds exist. Underwater thresholds were measured in an aboveground pool at frequencies between 1 and 38 kHz. The underwater audiogram was very similar to those previously published for California sea lions, suggesting that the current and previously obtained psychophysical data are representative for this species. The psychophysical and previously measured AEP audiograms were most similar in terms of high-frequency hearing limit (HFHL), although the underwater HFHL was sharper and occurred at a higher frequency. Aerial AEP methods are useful for predicting reductions in the HFHL that are potentially independent of the testing medium, such as those due to age-related sensorineural hearing loss.
Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices

PubMed Central

Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Kühmstedt, Peter; Notni, Gunther

2015-01-01

In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given. PMID:26703624
Blue-light digital communication in underwater environments utilizing orbital angular momentum

NASA Astrophysics Data System (ADS)

Baghdady, Joshua; Miller, Keith; Osler, Sean; Morgan, Kaitlyn; Li, Wenzhe; Johnson, Eric; Cochenour, Brandon

2016-05-01

Underwater optical communication has recently become the topic of much investigation as the demands for underwater data transmission have rapidly grown in recent years. The need for reliable, high-speed, secure underwater communication has turned increasingly to blue-light optical solutions. The blue-green visible wavelength window provides an attractive solution to the problem of underwater data transmission thanks to its low attenuation, where traditional RF solutions used in free-space communications collapse. Beginning with GaN laser diodes as the optical source, this work explores the encoding and transmission of digital data across underwater environments of varying turbidities. Given the challenges present in an underwater environment, such as the mechanical and optical turbulences that make proper alignment difficult to maintain, it is desirable to achieve extremely high data rates in order to allow the time window of alignment between the transmitter and receiver to be as small as possible. In this paper, work is done to increase underwater data rates through the use of orbital angular momentum. Results are shown for a range of data rates across a variety of channel types ranging in turbidity from that of a clear ocean to a dirty harbor.
Quantum imaging for underwater arctic navigation

NASA Astrophysics Data System (ADS)

Lanzagorta, Marco

2017-05-01

The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.
On Modeling Eavesdropping Attacks in Underwater Acoustic Sensor Networks †

PubMed Central

Wang, Qiu; Dai, Hong-Ning; Li, Xuran; Wang, Hao; Xiao, Hong

2016-01-01

The security and privacy of underwater acoustic sensor networks has received extensive attention recently due to the proliferation of underwater activities. This paper proposes an analytical model to investigate the eavesdropping attacks in underwater acoustic sensor networks. Our analytical framework considers the impacts of various underwater acoustic channel conditions (such as the acoustic signal frequency, spreading factor and wind speed) and different hydrophones (isotropic hydrophones and array hydrophones) in terms of network nodes and eavesdroppers. We also conduct extensive simulations to evaluate the effectiveness and the accuracy of our proposed model. Empirical results show that our proposed model is quite accurate. In addition, our results also imply that the eavesdropping probability heavily depends on both the underwater acoustic channel conditions and the features of hydrophones. PMID:27213379
Analysis of security and threat of underwater wireless sensor network topology

NASA Astrophysics Data System (ADS)

Yang, Guang; Wei, Zhiqiang; Cong, Yanping; Jia, Dongning

2012-04-01

Underwater wireless sensor networks (UWSNs) are a subclass of wireless sensor networks. Underwater sensor deployment is a significant challenge due to the characteristics of UWSNs and underwater environment. Recent researches for UWSNs deployment mostly focus on the maintenance of network connectivity and maximum communication coverage. However, the broadcast nature of the transmission medium incurs various types of security attacks. This paper studies the security issues and threats of UWSNs topology. Based on the cluster-based topology, an underwater cluster-based security scheme (U-CBSS) is presented to defend against these attacks. and safety.
Mapping Underwater Sound in the Dutch Part of the North Sea.

PubMed

Sertlek, H Özkan; Aarts, Geert; Brasseur, Sophie; Slabbekoorn, Hans; ten Cate, Carel; von Benda-Beckmann, Alexander M; Ainslie, Michael A

2016-01-01

The European Union requires member states to achieve or maintain good environmental status for their marine territorial waters and explicitly mentions potentially adverse effects of underwater sound. In this study, we focused on producing maps of underwater sound from various natural and anthropogenic origins in the Dutch North Sea. The source properties and sound propagation are simulated by mathematical methods. These maps could be used to assess and predict large-scale effects on behavior and distribution of underwater marine life and therefore become a valuable tool in assessing and managing the impact of underwater sound on marine life.
Robotic milking: Technology, farm design, and effects on work flow.

PubMed

Rodenburg, Jack

2017-09-01

Robotic milking reduces labor demands on dairy farms of all sizes and offers a more flexible lifestyle for farm families milking up to 250 cows. Because milking is voluntary, barn layouts that encourage low-stress access by providing adequate open space near the milking stations and escape routes for waiting cows improve milking frequency and reduce fetching. Because lame cows attend less often, preventing lameness with comfortable stalls, clean alley floors, and effective foot bathing warrants special emphasis in robotic dairies. Variable milking intervals create challenges for foot bathing, sorting and handling, and dealing with special-needs cows. Appropriate cow routing and separation options at the milking stations are needed to address these challenges and ensure that the expected labor savings are realized. Protocols and layout and gating should make it possible for a herd worker to complete all handling tasks alone. Free traffic and guided traffic systems yield similar results when excellent management is applied or when the number of cows is well below capacity. In less ideal circumstances, guided traffic and the use of commitment pens result in longer standing times and stress, particularly for lower ranking cows, and poor management with free traffic results in more labor for fetching. Copyright © 2017 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.
25th Anniversary Article: A Soft Future: From Robots and Sensor Skin to Energy Harvesters

PubMed Central

Bauer, Siegfried; Bauer-Gogonea, Simona; Graz, Ingrid; Kaltenbrunner, Martin; Keplinger, Christoph; Schwödiauer, Reinhard

2014-01-01

Scientists are exploring elastic and soft forms of robots, electronic skin and energy harvesters, dreaming to mimic nature and to enable novel applications in wide fields, from consumer and mobile appliances to biomedical systems, sports and healthcare. All conceivable classes of materials with a wide range of mechanical, physical and chemical properties are employed, from liquids and gels to organic and inorganic solids. Functionalities never seen before are achieved. In this review we discuss soft robots which allow actuation with several degrees of freedom. We show that different actuation mechanisms lead to similar actuators, capable of complex and smooth movements in 3d space. We introduce latest research examples in sensor skin development and discuss ultraflexible electronic circuits, light emitting diodes and solar cells as examples. Additional functionalities of sensor skin, such as visual sensors inspired by animal eyes, camouflage, self-cleaning and healing and on-skin energy storage and generation are briefly reviewed. Finally, we discuss a paradigm change in energy harvesting, away from hard energy generators to soft ones based on dielectric elastomers. Such systems are shown to work with high energy of conversion, making them potentially interesting for harvesting mechanical energy from human gait, winds and ocean waves. PMID:24307641
25th anniversary article: A soft future: from robots and sensor skin to energy harvesters.

PubMed

Bauer, Siegfried; Bauer-Gogonea, Simona; Graz, Ingrid; Kaltenbrunner, Martin; Keplinger, Christoph; Schwödiauer, Reinhard

2014-01-08

Scientists are exploring elastic and soft forms of robots, electronic skin and energy harvesters, dreaming to mimic nature and to enable novel applications in wide fields, from consumer and mobile appliances to biomedical systems, sports and healthcare. All conceivable classes of materials with a wide range of mechanical, physical and chemical properties are employed, from liquids and gels to organic and inorganic solids. Functionalities never seen before are achieved. In this review we discuss soft robots which allow actuation with several degrees of freedom. We show that different actuation mechanisms lead to similar actuators, capable of complex and smooth movements in 3d space. We introduce latest research examples in sensor skin development and discuss ultraflexible electronic circuits, light emitting diodes and solar cells as examples. Additional functionalities of sensor skin, such as visual sensors inspired by animal eyes, camouflage, self-cleaning and healing and on-skin energy storage and generation are briefly reviewed. Finally, we discuss a paradigm change in energy harvesting, away from hard energy generators to soft ones based on dielectric elastomers. Such systems are shown to work with high energy of conversion, making them potentially interesting for harvesting mechanical energy from human gait, winds and ocean waves. © 2013 The Authors. Published by WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
A Robot for Coastal Marine Studies Under Hostile Conditions

NASA Astrophysics Data System (ADS)

Consi, T. R.

2012-12-01

Robots have long been used for scientific exploration of extremely remote environments such as planetary surfaces and the deep ocean. In addition to these physically remote places, there are many environments that are transiently remote in the sense that they are inaccessible to humans for a period of time. Coastal marine environments fall into this category. While quite accessible (and enjoyable) during good weather, the coast can become as remote as the moon when it is impacted by severe storms or hurricanes. For near shore and shallow water marine science unmanned underwater ground vehicles (UUGVs) are the robots of choice for reliable access under a variety of conditions. Ground vehicles are inherently amphibious being able to operate in complex coastal environments that can range from the completely dry beach, through the transiently wet swash zone, into the surf zone and beyond. During storms, UUGVs provide stable sensor platforms resistant to waves and currents by virtue of being locked to the substrate. In such situations free-swimming robots would be swept away. Mobility during storms enables a UUGV to orient itself to optimally resist forces that would dislodge fixed, moored platforms. Mobility can also enable a UUGV to either avoid burial, or unbury itself after a storm. Finally, the ability to submerge provides a great advantage over buoys and surface vehicles which would be smashed by heavy wave action. We have developed a prototype UUGV to enable new science in the surf zone and other shallow water environments. Named LMAR for Lake Michigan Amphibious Robot, it is designed to be deployed from the dry beach, enter the water to perform a near-shore survey, and return to the deployment point for recovery. The body of the robot is a heavy flattened box (base dimensions: 1.07 m X 1.10 m X .393 m, dry weight: ~127 kg, displacement: ~ 45 kg) with a low center of gravity for stability and robust construction to withstand waves and currents. It is topped by a 1.5 m surface penetrating mast which currently limits the operational depth, although the core vehicle can be deployed to depths in excess of 10 m. Propulsion is accomplished with two DC brushless motors driving six wide heavy tread pneumatic wheels, three on each side. Power is provided by NiMH batteries. An onboard computer controls propulsion, navigation and communications. Guidance and navigation utilize inertial sensors, an electronic compass and a GPS unit mounted on the mast. A scientist onshore can monitor data from the scientific payload as well as command the robot through a mast-mounted radio Ethernet bridge. Standard, off the shelf oceanographic sensors such as sondes and ADCPs can easily be integrated onto the robot making it a versatile sensing platform. We have successfully deployed the vehicle off a sandy beach in Lake Michigan where it has performed lawn-mower surveys in the surf zone. LMAR's design and field test results will be presented along with a discussion of how to further harden the vehicle for deployment in storms.
The Need for US Coast Guard Underwater Mission Development

DTIC Science & Technology

2013-04-23

vehicles and proliferation of fiber optic cables, raising the level of human interactions in the underwater environment. Besides the benefits from the...unmanned underwater vehicles, proliferation of fiber optic cables, and observation posts on the ocean floor will raise the level of human interactions...world’s demand for wood grows.39 As technology progresses, undersea infrastructure will continue to expand. Already, underwater fiber optic communication
Joint Optimal Placement and Energy Allocation of Underwater Sensors in a Tree Topology

DTIC Science & Technology

2014-03-10

underwater acoustic sensor nodes with respect to the capacity of the wireless links between the... underwater acoustic sensor nodes with respect to the capacity of the wireless links between the nodes. We assumed that the energy consumption of...nodes’ optimal placements. We achieve the optimal placement of the underwater acoustic sensor nodes with respect to the capacity of the wireless
Optimal Scheduling for Underwater Communications in Multiple-User Scenarios

DTIC Science & Technology

2015-09-30

term goals of this project is to analyze and propose energy-efficient communication techniques for underwater acoustic sensor networks . These...investigate the possibility that these underwater acoustic networks disrupt the behavior of surrounding species of marine mammals. As a consequence of... underwater VHF acoustics , high data rate/short range acoustic communications and networking , and acoustic sensing in the VHF regime. WORK COMPLETED We
OPTICAL correlation identification technology applied in underwater laser imaging target identification

NASA Astrophysics Data System (ADS)

Yao, Guang-tao; Zhang, Xiao-hui; Ge, Wei-long

2012-01-01

The underwater laser imaging detection is an effective method of detecting short distance target underwater as an important complement of sonar detection. With the development of underwater laser imaging technology and underwater vehicle technology, the underwater automatic target identification has gotten more and more attention, and is a research difficulty in the area of underwater optical imaging information processing. Today, underwater automatic target identification based on optical imaging is usually realized with the method of digital circuit software programming. The algorithm realization and control of this method is very flexible. However, the optical imaging information is 2D image even 3D image, the amount of imaging processing information is abundant, so the electronic hardware with pure digital algorithm will need long identification time and is hard to meet the demands of real-time identification. If adopt computer parallel processing, the identification speed can be improved, but it will increase complexity, size and power consumption. This paper attempts to apply optical correlation identification technology to realize underwater automatic target identification. The optics correlation identification technology utilizes the Fourier transform characteristic of Fourier lens which can accomplish Fourier transform of image information in the level of nanosecond, and optical space interconnection calculation has the features of parallel, high speed, large capacity and high resolution, combines the flexibility of calculation and control of digital circuit method to realize optoelectronic hybrid identification mode. We reduce theoretical formulation of correlation identification and analyze the principle of optical correlation identification, and write MATLAB simulation program. We adopt single frame image obtained in underwater range gating laser imaging to identify, and through identifying and locating the different positions of target, we can improve the speed and orientation efficiency of target identification effectively, and validate the feasibility of this method primarily.
Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

NASA Astrophysics Data System (ADS)

Rao, Jionghui; Yao, Wenming; Wen, Linqiang

2015-10-01

Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.
A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

NASA Technical Reports Server (NTRS)

Hein, C.; Meystel, A.

1994-01-01

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.
A man-made object detection for underwater TV

NASA Astrophysics Data System (ADS)

Cheng, Binbin; Wang, Wenwu; Chen, Yao

2018-03-01

It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.
Characterization of underwater optical turbulence on the example of the Rayleigh-Benard water tank

NASA Astrophysics Data System (ADS)

Gladysz, Szymon; Barros, Rui; Kanaev, Andrey V.; Hou, Weilin

2017-09-01

For many years sound has been used as a primary method for underwater communication. However, data transmission rate of acoustic systems is low because typical frequencies associated with underwater acoustics are between tens of hertz and hundreds of kilohertz. A higher bandwidth can be achieved with visible light to transfer data underwater. The first challenge for underwater laser communication is scattering and absorption. In addition, there are disturbances caused by spatial and temporal changes in the water refraction index due to temperature and/or salinity variations. Optical turbulence, which includes the two effects, is the main theme of this paper. We will discuss the joint IOSB-NRL experiment whose goal was to test techniques for characterization of underwater optical turbulence and in particular we will focus on differential motion measurement from an LED array.

Monocular Vision-Based Underwater Object Detection

PubMed Central

Zhang, Zhen; Dai, Fengzhao; Bu, Yang; Wang, Huibin

2017-01-01

In this paper, we propose an underwater object detection method using monocular vision sensors. In addition to commonly used visual features such as color and intensity, we investigate the potential of underwater object detection using light transmission information. The global contrast of various features is used to initially identify the region of interest (ROI), which is then filtered by the image segmentation method, producing the final underwater object detection results. We test the performance of our method with diverse underwater datasets. Samples of the datasets are acquired by a monocular camera with different qualities (such as resolution and focal length) and setups (viewing distance, viewing angle, and optical environment). It is demonstrated that our ROI detection method is necessary and can largely remove the background noise and significantly increase the accuracy of our underwater object detection method. PMID:28771194
Evaluating the SCC resistance of underwater welds in sodium tetrathionate

DOE Office of Scientific and Technical Information (OSTI.GOV)

White, R.A.; Angeliu, T.M.

1997-12-01

The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA)more » and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H{sub 2}SO{sub 4}. The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process.« less
Underwater Nondestructive Testing of Ship Hull Welds

DTIC Science & Technology

1979-09-01

Norske Veritas. 5. Alan Taylor , Underwater Testing, Marine rechnology (Germany) Dec 1971, pp. 251-2. 6. Ship Underwater Maintenance, Evaluation and Repair...11. Peters, V. "NDT for Offshore Drilling Platform Structure," Welding end Metal Fabricatior, Jul 1973, V. 41-7. 12. Taylor , A., "Underwater...N. Cordea, Chairman, Senior Staff MetalZlugiet, ARMCO INC., Middletown, OH Mr. W. C. Brayton , Aset. to Gener•l Manager, Bethlehem Steel Corp
Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2011-09-30

channel interference mitigation for underwater acoustic MIMO - OFDM . 3) Turbo equalization for OFDM modulated physical layer network coding. 4) Blind CFO...Underwater Acoustic MIMO - OFDM . MIMO - OFDM has been actively studied for high data rate communications over the bandwidthlimited underwater acoustic...with the cochannel interference (CCI) due to parallel transmissions in MIMO - OFDM . Our proposed receiver has the following components: 1
Eddy-Current Non-Inertial Displacement Sensing for Underwater Infrasound Measurements

DTIC Science & Technology

2011-05-01

Eddy-current non-inertial displacement sensing for underwater infrasound measurements Dimitri M. Donskoy Stevens Institute of Technology, 711 Hudson...geophysicists have an ongoing interest in exploring underwater acous- tic processes at infrasound frequencies, for example, for monitoring natural events...underwater infrasound measurements 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f
Human Factors Issues When Operating Underwater Remotely Operated Vehicles and Autonomous Underwater Vehicles

DTIC Science & Technology

2011-03-01

etiquette (Parasuraman & Miller, 2004). Through natural and intuitive communication, Johnson et al., (2007) hope that this interface will instill greater...and etiquette in high criticality automated systems. Communications of the ACM, 47(4), 51-55. Parasuraman, R., & Riley, V. (1997). Humans and... protocols for underwater wireless communications. IEEE Communications Magazine, pp. 97-102. Quazi, A. H., & Konrad, W. L. (1982, March 1982). Underwater
DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.

PubMed

Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang

2018-05-25

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.
Underwater Acoustic Source Localisation Among Blind and Sighted Scuba Divers: Comparative study.

PubMed

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-05-01

Many blind individuals demonstrate enhanced auditory spatial discrimination or localisation of sound sources in comparison to sighted subjects. However, this hypothesis has not yet been confirmed with regards to underwater spatial localisation. This study therefore aimed to investigate underwater acoustic source localisation among blind and sighted scuba divers. This study took place between February and June 2015 in Elba, Italy, and involved two experimental groups of divers with either acquired (n = 20) or congenital (n = 10) blindness and a control group of 30 sighted divers. Each subject took part in five attempts at an under-water acoustic source localisation task, in which the divers were requested to swim to the source of a sound originating from one of 24 potential locations. The control group had their sight obscured during the task. The congenitally blind divers demonstrated significantly better underwater sound localisation compared to the control group or those with acquired blindness ( P = 0.0007). In addition, there was a significant correlation between years of blindness and underwater sound localisation ( P <0.0001). Congenital blindness was found to positively affect the ability of a diver to recognise the source of a sound in an underwater environment. As the correct localisation of sounds underwater may help individuals to avoid imminent danger, divers should perform sound localisation tests during training sessions.
Hearing in the Juvenile Green Sea Turtle (Chelonia mydas): A Comparison of Underwater and Aerial Hearing Using Auditory Evoked Potentials

PubMed Central

Piniak, Wendy E. D.; Mann, David A.; Harms, Craig A.; Jones, T. Todd; Eckert, Scott A.

2016-01-01

Sea turtles spend much of their life in aquatic environments, but critical portions of their life cycle, such as nesting and hatching, occur in terrestrial environments, suggesting that it may be important for them to detect sounds in both air and water. In this study we compared underwater and aerial hearing sensitivities in five juvenile green sea turtles (Chelonia mydas) by measuring auditory evoked potential responses to tone pip stimuli. Green sea turtles detected acoustic stimuli in both media, responding to underwater stimuli between 50 and 1600 Hz and aerial stimuli between 50 and 800 Hz, with maximum sensitivity between 200 and 400 Hz underwater and 300 and 400 Hz in air. When underwater and aerial hearing sensitivities were compared in terms of pressure, green sea turtle aerial sound pressure thresholds were lower than underwater thresholds, however they detected a wider range of frequencies underwater. When thresholds were compared in terms of sound intensity, green sea turtle sound intensity level thresholds were 2–39 dB lower underwater particularly at frequencies below 400 Hz. Acoustic stimuli may provide important environmental cues for sea turtles. Further research is needed to determine how sea turtles behaviorally and physiologically respond to sounds in their environment. PMID:27741231
Hearing in the Juvenile Green Sea Turtle (Chelonia mydas): A Comparison of Underwater and Aerial Hearing Using Auditory Evoked Potentials.

PubMed

Piniak, Wendy E D; Mann, David A; Harms, Craig A; Jones, T Todd; Eckert, Scott A

2016-01-01

Sea turtles spend much of their life in aquatic environments, but critical portions of their life cycle, such as nesting and hatching, occur in terrestrial environments, suggesting that it may be important for them to detect sounds in both air and water. In this study we compared underwater and aerial hearing sensitivities in five juvenile green sea turtles (Chelonia mydas) by measuring auditory evoked potential responses to tone pip stimuli. Green sea turtles detected acoustic stimuli in both media, responding to underwater stimuli between 50 and 1600 Hz and aerial stimuli between 50 and 800 Hz, with maximum sensitivity between 200 and 400 Hz underwater and 300 and 400 Hz in air. When underwater and aerial hearing sensitivities were compared in terms of pressure, green sea turtle aerial sound pressure thresholds were lower than underwater thresholds, however they detected a wider range of frequencies underwater. When thresholds were compared in terms of sound intensity, green sea turtle sound intensity level thresholds were 2-39 dB lower underwater particularly at frequencies below 400 Hz. Acoustic stimuli may provide important environmental cues for sea turtles. Further research is needed to determine how sea turtles behaviorally and physiologically respond to sounds in their environment.
Protocols for Image Processing based Underwater Inspection of Infrastructure Elements

NASA Astrophysics Data System (ADS)

O'Byrne, Michael; Ghosh, Bidisha; Schoefs, Franck; Pakrashi, Vikram

2015-07-01

Image processing can be an important tool for inspecting underwater infrastructure elements like bridge piers and pile wharves. Underwater inspection often relies on visual descriptions of divers who are not necessarily trained in specifics of structural degradation and the information may often be vague, prone to error or open to significant variation of interpretation. Underwater vehicles, on the other hand can be quite expensive to deal with for such inspections. Additionally, there is now significant encouragement globally towards the deployment of more offshore renewable wind turbines and wave devices and the requirement for underwater inspection can be expected to increase significantly in the coming years. While the merit of image processing based assessment of the condition of underwater structures is understood to a certain degree, there is no existing protocol on such image based methods. This paper discusses and describes an image processing protocol for underwater inspection of structures. A stereo imaging image processing method is considered in this regard and protocols are suggested for image storage, imaging, diving, and inspection. A combined underwater imaging protocol is finally presented which can be used for a variety of situations within a range of image scenes and environmental conditions affecting the imaging conditions. An example of detecting marine growth is presented of a structure in Cork Harbour, Ireland.
Calibration Techniques for Accurate Measurements by Underwater Camera Systems

PubMed Central

Shortis, Mark

2015-01-01

Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems. PMID:26690172
Award 1 Title: Acoustic Communications 2011 Experiment: Deployment Support and Post Experiment Data Handling and Analysis. Award 2 Title: Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award. 3 Title: Coupled Research in Ocean Acoustics and Signal Processing for the Next Generation of Underwater Acoustic Communication Systems

DTIC Science & Technology

2015-09-30

Wireless Networks (WUWNet’14), Rome, Italy, Nov. 12 14, 2014. J. Preisig, “ Underwater Acoustic Communications: Enabling the Next Generation at the...on Wireless Communication. M. Pajovic, J. Preisig, “Performance Analytics and Optimal Design of Multichannel Equalizers for Underwater Acoustic Communications”, to appear in IEEE Journal of Oceanic Engineering. 6 ...Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award #3
Advanced instrumentation for research in diving and hyperbaric medicine.

PubMed

Sieber, Arne; L'Abbate, Antonio; Kuch, Benjamin; Wagner, Matthias; Benassi, Antonio; Passera, Mirko; Bedini, Remo

2010-01-01

Improving the safety of diving and increasing knowledge about the adaptation of the human body to underwater and hyperbaric environment require specifically developed underwater instrumentation for physiological measurements. In fact, none of the routine clinical devices for health control is suitable for in-water and/or under-pressure operation. The present paper addresses novel technological acquisitions and the development of three dedicated devices: * an underwater data logger for recording O2 saturation (reflective pulsoxymetry), two-channel ECG, depth and temperature; * an underwater blood pressure meter based on the oscillometric method; and * an underwater echography system. Moreover, examples of recordings are presented and discussed.
Locating underwater objects. [technology transfer

NASA Technical Reports Server (NTRS)

Grice, C. F.

1974-01-01

Underwater search operations are considered to be engineering and operational problems. A process for proper definition of the problem and selection of instrumentation and operational procedures is described. An outline of underwater search instrumentation and techniques is given.
Human factors optimization of virtual environment attributes for a space telerobotic control station

NASA Astrophysics Data System (ADS)

Lane, Jason Corde

2000-10-01

Remote control of underwater vehicles and other robotic systems has, up until now, proved to be a challenging task for the human operator. With technology advancements in computers and displays, computer interfaces can be used to alleviate the workload on the operator. This research introduces the concept of a commanded display, which is a graphical simulation that shows the commands sent to the actual system in real-time. The primary goal of this research was to show a commanded display as an alternative to the traditional predictive display for reducing the effects of time delay. Several experiments were used to investigate how subjects compensated for time delay under a variety of conditions while controlling a 7-degree of freedom robotic manipulator. Results indicate that time delay increased completion time linearly; this linear relationship occurred even at different manipulator speeds, varying levels of error, and when using a commanded display. The commanded display alleviated the majority of time delay effects, up to 91% reduction. The commanded display also facilitated more accurate control, reducing the number of inadvertent impacts to the task worksite, even when compared to no time delay. Even with a moderate error between the commanded and actual displays, the commanded display was still a useful tool for mitigating time delay. The way subjects controlled the manipulator with the input device was tracked and their control strategies were extracted. A correlation between the subjects' use of the input device and their task completion time was determined. The importance of stereo vision and head tracking was examined and shown to improve a subject's depth perception within a virtual environment. Reports of simulator sickness induced by display equipment, including a head mounted display and LCD shutter glasses, were compared. The results of the above testing were used to develop an effective virtual environment control station to control a multi-arm robot.
Characterization of jellyfish turning using 3D-PTV

NASA Astrophysics Data System (ADS)

Xu, Nicole; Dabiri, John

2017-11-01

Aurelia aurita are oblate, radially symmetric jellyfish that consist of a gelatinous bell and subumbrellar muscle ring, which contracts to provide motive force. Swimming is typically modeled as a purely vertical motion; however, asymmetric activations of swim pacemakers (sensory organs that innervate the muscle at eight locations around the bell margin) result in turning and more complicated swim behaviors. More recent studies have examined flow fields around turning jellyfish, but the input/output relationship between locomotive controls and swim trajectories is unclear. To address this, bell kinematics for both straight swimming and turning are obtained using 3D particle tracking velocimetry (3D-PTV) by injecting biocompatible elastomer tags into the bell, illuminating the tank with ultraviolet light, and tracking the resulting fluorescent particles in a multi-camera setup. By understanding these kinematics in both natural and externally controlled free-swimming animals, we can connect neuromuscular control mechanisms to existing flow measurements of jellyfish turning for applications in designing more energy efficient biohybrid robots and underwater vehicles. NSF GRFP.
Wind and water tunnel testing of a morphing aquatic micro air vehicle.

PubMed

Siddall, Robert; Ortega Ancel, Alejandro; Kovač, Mirko

2017-02-06

Aerial robots capable of locomotion in both air and water would enable novel mission profiles in complex environments, such as water sampling after floods or underwater structural inspections. The design of such a vehicle is challenging because it implies significant propulsive and structural design trade-offs for operation in both fluids. In this paper, we present a unique Aquatic Micro Air Vehicle (AquaMAV), which uses a reconfigurable wing to dive into the water from flight, inspired by the plunge diving strategy of water diving birds in the family Sulidae . The vehicle's performance is investigated in wind and water tunnel experiments, from which we develop a planar trajectory model. This model is used to predict the dive behaviour of the AquaMAV, and investigate the efficacy of passive dives initiated by wing folding as a means of water entry. The paper also includes first field tests of the AquaMAV prototype where the folding wings are used to initiate a plunge dive.
Wind and water tunnel testing of a morphing aquatic micro air vehicle

PubMed Central

Ortega Ancel, Alejandro; Kovač, Mirko

2017-01-01

Aerial robots capable of locomotion in both air and water would enable novel mission profiles in complex environments, such as water sampling after floods or underwater structural inspections. The design of such a vehicle is challenging because it implies significant propulsive and structural design trade-offs for operation in both fluids. In this paper, we present a unique Aquatic Micro Air Vehicle (AquaMAV), which uses a reconfigurable wing to dive into the water from flight, inspired by the plunge diving strategy of water diving birds in the family Sulidae. The vehicle's performance is investigated in wind and water tunnel experiments, from which we develop a planar trajectory model. This model is used to predict the dive behaviour of the AquaMAV, and investigate the efficacy of passive dives initiated by wing folding as a means of water entry. The paper also includes first field tests of the AquaMAV prototype where the folding wings are used to initiate a plunge dive. PMID:28163877
An adaptable walking-skid for seabed ROV under strong current disturbance

NASA Astrophysics Data System (ADS)

Si, Jianting; Chin, Chengsiong

2014-09-01

This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle (ROV) during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition (from 0.5 m/s to 5.0 m/s). A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.

Process Algebra Approach for Action Recognition in the Maritime Domain

NASA Technical Reports Server (NTRS)

Huntsberger, Terry

2011-01-01

The maritime environment poses a number of challenges for autonomous operation of surface boats. Among these challenges are the highly dynamic nature of the environment, the onboard sensing and reasoning requirements for obeying the navigational rules of the road, and the need for robust day/night hazard detection and avoidance. Development of full mission level autonomy entails addressing these challenges, coupled with inference of the tactical and strategic intent of possibly adversarial vehicles in the surrounding environment. This paper introduces PACIFIC (Process Algebra Capture of Intent From Information Content), an onboard system based on formal process algebras that is capable of extracting actions/activities from sensory inputs and reasoning within a mission context to ensure proper responses. PACIFIC is part of the Behavior Engine in CARACaS (Cognitive Architecture for Robotic Agent Command and Sensing), a system that is currently running on a number of U.S. Navy unmanned surface and underwater vehicles. Results from a series of experimental studies that demonstrate the effectiveness of the system are also presented.
Feasibility of Underwater Friction Stir Welding of HY-80 Steel

DTIC Science & Technology

2011-03-01

UNDERWATER FRICTION STIR WELDING OF HY-80 STEEL by William C. Stewart March 2011 Thesis Advisor: Terry McNelley Second Reader: Sarath Menon...Master’s Thesis 4. TITLE AND SUBTITLE Feasibility of Underwater Friction Stir Welding of HY-80 Steel 5. FUNDING NUMBERS 6. AUTHOR(S) William...DISTRIBUTION CODE A 13. ABSTRACT (maximum 200 words) The purpose of this thesis is to determine the feasibility of underwater friction stir welding
Topology Optimization for Energy Management in Underwater Sensor Networks

DTIC Science & Technology

2015-02-01

1 To appear in International Journal of Control as a regular paper Topology Optimization for Energy Management in Underwater Sensor Networks ⋆ Devesh...K. Jha1 Thomas A. Wettergren2 Asok Ray1 Kushal Mukherjee3 Keywords: Underwater Sensor Network , Energy Management, Pareto Optimization, Adaptation...Optimization for Energy Management in Underwater Sensor Networks 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d
The Effect of Underwater Gait Training on Balance Ability of Stroke Patients

PubMed Central

Park, Seok Woo; Lee, Kyoung Jin; Shin, Doo Chul; Shin, Seung Ho; Lee, Myung Mo; Song, Chang Ho

2014-01-01

[Purpose] The purpose of this study was to investigate the effects of underwater treadmill gait training on the balance ability of stroke patients. [Subjects] Twenty-two patients with stroke were randomly assigned to an underwater treadmill group (n =11) or a control group (n =11). [Methods] Both groups received general rehabilitation for 30 min per session, 5 times per week, over a 4-week period. The underwater treadmill group received additional underwater gait training for 30 min per session, 5 times per week, over the same 4-week period. Static and dynamic balances were evaluated before and after the intervention. [Results] The means of static and dynamic balance ability increased significantly in both groups, but there was no significant difference between the two groups. [Conclusion] Compared to the general rehabilitation program, underwater treadmill gait training was not more effective at improving the balance ability of stroke patients than land-based training. PMID:25013292
A novel underwater dam crack detection and classification approach based on sonar images

PubMed Central

Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

2017-01-01

Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments. PMID:28640925
A novel underwater dam crack detection and classification approach based on sonar images.

PubMed

Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

2017-01-01

Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.
Homogeneity of Mechanical Properties of Underwater Friction Stir Welded 2219-T6 Aluminum Alloy

NASA Astrophysics Data System (ADS)

Liu, H. J.; Zhang, H. J.; Yu, L.

2011-11-01

Underwater friction stir welding (FSW) has been demonstrated to be available for the improvement in tensile strength of normal FSW joints. In order to illuminate the intrinsic reason for strength improvement through underwater FSW, a 2219 aluminum alloy was underwater friction stir welded and the homogeneity of mechanical properties of the joint was investigated by dividing the joint into three layers. The results indicate that the tensile strength of the three layers of the joint is all improved by underwater FSW, furthermore, the middle and lower layers have larger extent of strength improvement than the upper layer, leading to an increase in the homogeneity of mechanical properties of the joint. The minimum hardness value of each layer, especially the middle and lower layers, is improved under the integral water cooling effect, which is the intrinsic reason for the strength improvement of underwater joint.
Underwater single beam circumferentially scanning detection system using range-gated receiver and adaptive filter

NASA Astrophysics Data System (ADS)

Tan, Yayun; Zhang, He; Zha, Bingting

2017-09-01

Underwater target detection and ranging in seawater are of interest in unmanned underwater vehicles. This study presents an underwater detection system that synchronously scans a collimated laser beam and a narrow field of view to circumferentially detect an underwater target. Hybrid methods of range-gated and variable step-size least mean squares (VSS-LMS) adaptive filter are proposed to suppress water backscattering. The range-gated receiver eliminates the backscattering of near-field water. The VSS-LMS filter extracts the target echo in the remaining backscattering and the constant fraction discriminator timing method is used to improve ranging accuracy. The optimal constant fraction is selected by analysing the jitter noise and slope of the target echo. The prototype of the underwater detection system is constructed and tested in coastal seawater, then the effectiveness of backscattering suppression and high-ranging accuracy is verified through experimental results and analysis discussed in this paper.
Influence of ice thickness and surface properties on light transmission through Arctic sea ice

PubMed Central

Arndt, Stefanie; Nicolaus, Marcel; Perovich, Donald K.; Jakuba, Michael V.; Suman, Stefano; Elliott, Stephen; Whitcomb, Louis L.; McFarland, Christopher J.; Gerdes, Rüdiger; Boetius, Antje; German, Christopher R.

2015-01-01

Abstract The observed changes in physical properties of sea ice such as decreased thickness and increased melt pond cover severely impact the energy budget of Arctic sea ice. Increased light transmission leads to increased deposition of solar energy in the upper ocean and thus plays a crucial role for amount and timing of sea‐ice‐melt and under‐ice primary production. Recent developments in underwater technology provide new opportunities to study light transmission below the largely inaccessible underside of sea ice. We measured spectral under‐ice radiance and irradiance using the new Nereid Under‐Ice (NUI) underwater robotic vehicle, during a cruise of the R/V Polarstern to 83°N 6°W in the Arctic Ocean in July 2014. NUI is a next generation hybrid remotely operated vehicle (H‐ROV) designed for both remotely piloted and autonomous surveys underneath land‐fast and moving sea ice. Here we present results from one of the first comprehensive scientific dives of NUI employing its interdisciplinary sensor suite. We combine under‐ice optical measurements with three dimensional under‐ice topography (multibeam sonar) and aerial images of the surface conditions. We investigate the influence of spatially varying ice‐thickness and surface properties on the spatial variability of light transmittance during summer. Our results show that surface properties such as melt ponds dominate the spatial distribution of the under‐ice light field on small scales (<1000 m2), while sea ice‐thickness is the most important predictor for light transmission on larger scales. In addition, we propose the use of an algorithm to obtain histograms of light transmission from distributions of sea ice thickness and surface albedo. PMID:27660738
Dive and Discover: New Arctic Educational Modules and Near Real-Time Coverage of Exploration on the Gakkel Ridge, Arctic Ocean

NASA Astrophysics Data System (ADS)

Humphris, S. E.; Conrad, D. S.; Joyce, K.; Whitcomb, L.; Carignan, C.

2006-12-01

The award-winning Dive and Discover web site will provide education and outreach activities during the International Polar Year for an expedition to investigate hydrothermal activity on the Gakkel Ridge using autonomous underwater vehicles. Created in 2000, this web site is targeted mainly at middle-school students (Grades 6-8) and the general public, but is structured to provide multiple layers and levels of information to cover a wide range of educational experience. The backbone of the site is a series of educational modules that address basic science concepts central to marine science and research being conducted in the deep ocean and on the seafloor. The site already contains considerable material on a range of topics pertinent to seafloor exploration, including mid-ocean ridges, hydrothermal vents, and vent biology, as well as Antarctica. For the cruise to the Gakkel Ridge, two new modules relevant to the upcoming Gakkel Ridge cruise are being developed: one on the geography, oceanography and ecosystems of the Arctic Ocean, and another on underwater robotics. During the 2007 cruise, Dive and Discover will provide daily updates on the progress of the cruise through still and video images from the ship and from the seafloor, graphical representations of a wide variety of oceanographic data, explanations about the technology being used, general information about life at sea on an ice breaker conducting marine research, and interviews with the scientists, engineers, and mariners that make oceanographic research possible. In addition, a "Mail Buoy" will allow the general public to communicate directly by email with scientists at sea. Once the cruise is completed, it will remain live on the site so that it can continue to be accessed and used by teachers during any part of the school year.
Influence of ice thickness and surface properties on light transmission through Arctic sea ice.

PubMed

Katlein, Christian; Arndt, Stefanie; Nicolaus, Marcel; Perovich, Donald K; Jakuba, Michael V; Suman, Stefano; Elliott, Stephen; Whitcomb, Louis L; McFarland, Christopher J; Gerdes, Rüdiger; Boetius, Antje; German, Christopher R

2015-09-01

The observed changes in physical properties of sea ice such as decreased thickness and increased melt pond cover severely impact the energy budget of Arctic sea ice. Increased light transmission leads to increased deposition of solar energy in the upper ocean and thus plays a crucial role for amount and timing of sea-ice-melt and under-ice primary production. Recent developments in underwater technology provide new opportunities to study light transmission below the largely inaccessible underside of sea ice. We measured spectral under-ice radiance and irradiance using the new Nereid Under-Ice (NUI) underwater robotic vehicle, during a cruise of the R/V Polarstern to 83°N 6°W in the Arctic Ocean in July 2014. NUI is a next generation hybrid remotely operated vehicle (H-ROV) designed for both remotely piloted and autonomous surveys underneath land-fast and moving sea ice. Here we present results from one of the first comprehensive scientific dives of NUI employing its interdisciplinary sensor suite. We combine under-ice optical measurements with three dimensional under-ice topography (multibeam sonar) and aerial images of the surface conditions. We investigate the influence of spatially varying ice-thickness and surface properties on the spatial variability of light transmittance during summer. Our results show that surface properties such as melt ponds dominate the spatial distribution of the under-ice light field on small scales (<1000 m 2 ), while sea ice-thickness is the most important predictor for light transmission on larger scales. In addition, we propose the use of an algorithm to obtain histograms of light transmission from distributions of sea ice thickness and surface albedo.
Underwater gait analysis in Parkinson's disease.

PubMed

Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi

2017-02-01

Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.
15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2012 CFR

2012-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...
15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2013 CFR

2013-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...
15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2014 CFR

2014-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...
15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2010 CFR

2010-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...
15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2011 CFR

2011-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...
Priority Determination of Underwater Tourism Site Development in Gorontalo Province using Analytical Hierarchy Process (AHP)

NASA Astrophysics Data System (ADS)

Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.

2018-02-01

This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.
Chinese research on underwater acoustics

NASA Astrophysics Data System (ADS)

Qian, Zhengxu; Ding, Dong

1992-09-01

The monograph provides a baseline assessment of Chinese literature in research on the physics and technology of underwater acoustics during the last decade in China. However, developments prior to 1980 are also briefly covered, as they provide background and context for recent developments. This report will provide the following: (1) a description of research organizations and their administrative structure, professional societies, conferences, researchers, and engineers; (2) a technical review of the physics and engineering of underwater acoustics; (3) a list of underwater acoustics experts from the United States and Europe who visited China; (4) a list of underwater acoustics monography written by Chinese authors; and (5) a brief assessment of the Chinese research at the international level.
Efficient Use of AUVs in the Maritime Environment

NASA Astrophysics Data System (ADS)

Slămnoiu, G.; Radu, O.; Roşca, V.; Pascu, C.; Surdu, G.; Curcă, E.; Damian, R. G.; Rădulescu, A.

2017-06-01

Autonomous underwater vehicle (AUV) a.k.a. underwater drones are subsea vehicles which operate in the underwater environment independently of direct human input. There is a growing interest in underwater data collection by using autonomous underwater vehicles within the oceanographic research community. In this paper, the Iver 2 AUV is examined to accomplish accurate side-scan data while executing well planned missions. Therefore, this papers goal is to establish the optimal use conditions for the AUV that RCN has so that we maximize the detection probability of sea bottom objects that can be risk factors and at the same time to cover a surface as large as possible during a single mission.

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