scholarly journals A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

2019 ◽  
Vol 9 (7) ◽  
pp. 1388 ◽  
Author(s):  
Ivan Lončar ◽  
Anja Babić ◽  
Barbara Arbanas ◽  
Goran Vasiljević ◽  
Tamara Petrović ◽  
...  
Keyword(s):  
Acoustic Communication ◽  
Data Exchange ◽  
Real Life ◽  
Sensor Nodes ◽  
Underwater Communication ◽  
Underwater Robots ◽  
Robotic Swarm ◽  
Long Term Monitoring ◽  
Term Monitoring

This paper describes an underwater acoustic sensor network consisting of a heterogeneous robotic swarm used for long-term monitoring of underwater environments. The swarm consists of a large number of underwater robots acting as sensor nodes with limited movement capabilities, and a few surface robots aiding them in accomplishing underwater monitoring scenarios. Main interactions between two types of robots include underwater sensor deployment and relocation, energy and data exchange, and acoustic localisation aiding. Hardware capabilities of each vehicle are described in detail. Inter-agent communication is split into two layers: surface and underwater communication. Surface communication utilises wireless communication using WiFi routers configured for decentralised routing. Underwater communication mainly uses acoustic communication which, when used within a large swarm, poses a challenging task because of high probability of interference and data loss. The acoustic communication protocol used to prevent these issues is presented in detail. Finally, more complex functionalities of the robotic swarm are presented, including several results from real-life experiments.

scholarly journals Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots

2020 ◽  
Vol 10 (20) ◽  
pp. 7124
Author(s):  
Anja Babić ◽  
Filip Mandić ◽  
Nikola Mišković
Keyword(s):  
Visual Servoing ◽  
Real Life ◽  
Sensor Nodes ◽  
Design Development ◽  
Level Control ◽  
Image Processing Algorithm ◽  
Control Structures ◽  
Robotic Swarm ◽  
High Level

This paper describes the design, development, and testing of both hardware and software for a visual servoing-based system that enables agents within a heterogeneous marine robotic swarm to share energy. The goal of this system is prolonging the active operational time of the swarm as a whole, allowing it to perform long-term environmental monitoring and data collection missions. The implementation presented in the paper features an over-actuated autonomous surface platform docking up to four floating sensor nodes at a time and replenishing their batteries using wireless inductive charging. Mechanical solutions for each robot segment related to the docking procedure are presented, along with pertinent high-level and low-level control structures. A node featuring an extended Kalman filter and additional heuristics is used to fuse measurements from a neural network trained for object detection and a hue thresholding image processing algorithm, in order to track the docking target and achieve visual servoing. Finally, experimental results in both a controlled environment and challenging conditions on-site are presented. Once deployed, the developed system successfully enables the approach and docking of the designated target, showing its feasibility in different real-life conditions.

Future Needs for Long-Term Monitoring Design

2003 ◽  
Author(s):  
Barbara S. Minsker ◽  
Charles Davis ◽  
David Dougherty ◽  
Gus Williams
Keyword(s):  
Monitoring Design ◽  
Future Needs ◽  
Long Term Monitoring ◽  
Term Monitoring

Investigations on potential methods for the long-term monitoring of the state of fuel elements in dry storage casks

Kerntechnik ◽  
2018 ◽  
Vol 83 (6) ◽  
pp. 513-522 ◽  
Author(s):  
U. Hampel ◽  
A. Kratzsch ◽  
R. Rachamin ◽  
M. Wagner ◽  
S. Schmidt ◽  
...  
Keyword(s):  
The State ◽  
Dry Storage ◽  
Long Term Monitoring ◽  
Potential Methods ◽  
Fuel Elements ◽  
Term Monitoring

Long-Term Monitoring of the Effects of Weather and Marking Techniques on Body Condition in the Kuhl's Pipistrelle Bat, Pipistrellus Kuhlii

2019 ◽  
Vol 21 (1) ◽  
pp. 87 ◽  
Author(s):  
Andrea G. Locatelli ◽  
Simone Ciuti ◽  
Primož Presetnik ◽  
Roberto Toffoli ◽  
Emma Teeling
Keyword(s):  
Body Condition ◽  
Long Term Monitoring ◽  
Term Monitoring
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