Visual Perception and Control of Underwater Robots

2021 ◽  
Author(s):  
Junzhi Yu ◽  
Xingyu Chen ◽  
Shihan Kong
Keyword(s):  
Visual Perception ◽  
Underwater Robots ◽  
And Control

Visual Perception and Control of Underwater Robots

2021 ◽  
Author(s):  
Junzhi Yu ◽  
Xingyu Chen ◽  
Shihan Kong
Keyword(s):  
Visual Perception ◽  
Underwater Robots ◽  
And Control

Mobile robot society for distributed operations in closed aquatic environment

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 235-250 ◽  
Author(s):  
M. Vainio ◽  
P. Appelqvist ◽  
A. Halme
Keyword(s):  
Control Architecture ◽  
Common Goal ◽  
Underwater Robots ◽  
Test Environment ◽  
Multirobot System ◽  
Cooperative Society ◽  
Living Biomass ◽  
Algae Growth ◽  
Robot Society ◽  
And Control

In this paper a multirobot system consisting of small size ball-shaped mobile underwater robots is introduced. Robots form a cooperative society operating together for a common goal. This is made possible by inter-member communication and control architecture allowing cooperation. The test environment is a closed aquatic process containing tanks, pipes, and a jet pump. The task considered is cleaning of biologically contaminated spots in the process. Detailed hardware structure of a robot-member as well as the control architecture are introduced. Behaviour of the cooperative system is demonstrated in a test environment where contamination caused by biological algae growth is emulated by infrared panels behaving like a living biomass.

CUBot: Computer Vision on the Eye–Hand Coordination with a Computer-Using Robot and its Implementation

2017 ◽  
Vol 32 (04) ◽  
pp. 1855005 ◽  
Author(s):  
Yung-Sheng Chen ◽  
Kun-Li Lin
Keyword(s):  
Computer Vision ◽  
Visual Perception ◽  
Data Communication ◽  
Object Perception ◽  
Robotic Hand ◽  
Human Visual Perception ◽  
Robotic Vision ◽  
Research Areas ◽  
Hand Coordination ◽  
And Control

Eye–hand coordination (EHC) is of great importance in the research areas of human visual perception, computer vision and robotic vision. A computer-using robot (CUBot) is designed for investigating the EHC mechanism and its implementation is presented in this paper. The CUBot possesses the ability of operating a computer with a mouse like a human being. Based on the three phases of people using computer with a mouse, i.e. watching the screen, recognizing the graphical objects on the screen as well as controlling the mouse to let the cursor approach to the target, our CUBot can also perceive information merely through its vision and control the mouse by its robotic hand without any physical data communication connected to the operated computer. The CUBot is mainly composed of “Mouse-Hand” for operating the mouse, “mind” for realizing the object perception, cursor tracking, and EHC. Two experiments used for testing the ability of our EHC algorithm and the perception of CUBot confirm the feasibility of the proposed approach.

scholarly journals Effectiveness of Communication Skills Training Program in Developing Some Visual Perception and Writing Readiness Skills for Kindergarten Children

2021 ◽  
Vol 33 (1-3) ◽  
Author(s):  
Naglaa Fathy Sayed Ahmed Abou-Eid
Keyword(s):  
Visual Perception ◽  
Training Program ◽  
Communication Skills ◽  
Skills Training ◽  
Kindergarten Children ◽  
Communication Skills Training ◽  
Total Period ◽  
Number Of Children ◽  
Readiness Skills ◽  
And Control

ABSTRACT The aim of the paper is to explore the effectiveness of Communication Skills Training Program in Developing Some Visual Perception and Writing Readiness Skills for Kindergarten Children. A semi-experimental, pre-post-test for the two groups (experimental and control) was employed. Participants were 30 children. They aged between 5 and 5.7 years (M=5.3 years, SD=0.984). Two groups were constructed with equal number of children for each (experimental = 15 children, of which 9 were girls, while 6 were boys, and control = 15 children, of which 10 were girls, while 5 were boys). A program was applied to the experimental group (12 sessions; 3 sessions per week; each session lasts for 20-25 minutes, total period or application = 4 weeks, that is a month). Results advocate the effectiveness of the employed raining program.

scholarly journals Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3631 ◽  
Author(s):  
Juan S. Cely ◽  
Roque Saltaren ◽  
Gerardo Portilla ◽  
Oz Yakrangi ◽  
Alejandro Rodriguez-Barroso
Keyword(s):  
Cfd Simulation ◽  
Low Cost ◽  
Water Channel ◽  
Hydrodynamic Coefficients ◽  
Underwater Robots ◽  
Free Decay ◽  
Test Application ◽  
Decay Test ◽  
Decay Tests ◽  
And Control

Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD). One method for obtaining the hydrodynamic coefficients of an ROV (Remote Operated Vehicle) is by using an experimental PMM (Planar Motion Mechanism) or CWC (Circular Water Channel); however, the use of these experimental infrastructures is costly. Therefore, it is of interest to obtain these coefficients in other ways, for example, by the use of simple experiments. The Free Decay Test is an ideal type of experiment, as it has a low cost and is simple to implement. In this paper, two different free decay tests were carried out, to which three different methods for obtaining coefficients were applied. They were compared with results obtained by CFD simulation to conduct a statistical analysis in order to determine their behaviours. It was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot).

Design of the Undulating Fin Propulsor with Rajiform Swimming Mode

2013 ◽  
Vol 579-580 ◽  
pp. 451-459
Author(s):  
Yang Wei Wang ◽  
Jin Bo Tan ◽  
Bao Tong Gu ◽  
Dong Biao Zhao
Keyword(s):  
Control Method ◽  
Harmonic Wave ◽  
Kinematic Model ◽  
Underwater Robots ◽  
Pectoral Fins ◽  
Swimming Mode ◽  
And Control ◽  
Unique Species ◽  
Prototype Design ◽  
Undulating Fin

Fishes have evolved remarkable swimming abilities after years of evolution which inspire scientists and engineers to develop new underwater robots that mimic different kinds of fishes. Stingray is a unique species among median and/or paired fin (MPF) mode fishes which undulates the enlarged pectoral fins while swimming. In this paper, a biomimetic prototype design and a developed undulating fin propulsor that mimics stingrays are presented. Kinematic model of the undulating fin is built. The flexibility of the curved surface is checked by the fitting results. Detailed mechanism structure and control system design of the bionic prototype are illustrated. The simulation experiments of the propulsor were conducted on the ground and the results show that an approximated harmonic wave can be generated on each side fin. The feasibility of the motion control method is verified.

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