scholarly journals OpenSWAP, an Open Architecture, Low Cost Class of Autonomous Surface Vehicles for Geophysical Surveys in the Shallow Water Environment

2020 ◽  
Vol 12 (16) ◽  
pp. 2575 ◽  
Author(s):  
Giuseppe Stanghellini ◽  
Fabrizio Del Bianco ◽  
Luca Gasperini
Keyword(s):  
Shallow Water ◽  
Autonomous Vehicles ◽  
Low Cost ◽  
Water Environment ◽  
Open Architecture ◽  
Open Hardware ◽  
Autonomous Surface Vehicles ◽  
Geophysical Surveys ◽  
Seismogenic Faults ◽  
Conventional Systems

OpenSWAP is a class of innovative open architecture, low cost autonomous vehicles for geological/geophysical studies of shallow water environments. Although they can host different types of sensors, these vehicles were specifically designed for geophysical surveys, i.e., for the acquisition of bathymetric and stratigraphic data through single- and multibeam echosounders, side-scan sonars, and seismic-reflection systems. The main characteristic of the OpenSWAP vehicles is their ability of following pre-defined routes with high accuracy under acceptable weather and sea conditions. This would open the door to 4D (repeated) surveys, which constitute a powerful tool to analyze morphological and stratigraphic changes of the sediment/water interface and of the shallow substratum eventually caused by sediment dynamics (erosion vs. deposition), slumps and gravitative failures, earthquakes (slip along seismogenic faults and secondary effects of shaking), tsunamis, etc. The low cost and the open hardware/software architectures of these systems, which can be modified by the end users, lead for planning and execution of cooperative and adaptive surveys with different instruments not yet implemented or tested. Together with a technical description of the vehicles, we provide different case studies where they were successfully employed, carried out in environments not, or very difficultly accessed through conventional systems.

The Design, Building and Testing of a Trans-Atlantic Autonomous Sailboat

2015 ◽  
Author(s):  
Satchel B. Douglas ◽  
Nolan R. Conway ◽  
Matthew B. Weklar
Keyword(s):  
Open Source ◽  
Autonomous Vehicles ◽  
Low Cost ◽  
Design Decisions ◽  
Hull Form ◽  
Construction Methods ◽  
Autonomous Surface Vehicles ◽  
Marine Industry ◽  
Long Duration ◽  
Rotating Wing

The use of autonomous vehicles is growing in all industries. However, there are no open-source autonomous surface vehicles available in the marine industry. This paper details the design decisions made, construction methods used, and testing performed on a low-cost, open-source vessel. The vessel was designed to cross the Atlantic Ocean as a means of proving its ability to survive the harsh marine environment. A trimaran hull form and free rotating wing sail were used because the combination provided good righting characteristics, durability and low power consumption. The vessel has been shown to navigate autonomously. Total costs were less than $4000 dollars, excluding labor. Vessels of this type could be used for long duration missions recording data in the open ocean at extremely low cost.

scholarly journals End-to-End Automated Guided Modular Vehicle

2020 ◽  
Vol 10 (12) ◽  
pp. 4400 ◽  
Author(s):  
Luis A. Curiel-Ramirez ◽  
Ricardo A. Ramirez-Mendoza ◽  
Rolando Bautista-Montesano ◽  
M. Rogelio Bustamante-Bello ◽  
Hugo G. Gonzalez-Hernandez ◽  
...  
Keyword(s):  
Artificial Intelligence ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
High Performance ◽  
Low Cost ◽  
Open Architecture ◽  
Short Period ◽  
Wide Range ◽  
The Subject ◽  
Computing Capacity

Autonomous Vehicles (AVs) have caught people’s attention in recent years, not only from an academic or developmental viewpoint but also because of the wide range of applications that these vehicles may entail, such as intelligent mobility and logistics, as well as for industrial purposes, among others. The open literature contains a variety of works related to the subject. They employ a diversity of techniques ranging from probabilistic to ones based on Artificial Intelligence. The increase in computing capacity, well known to many, has opened plentiful opportunities for the algorithmic processing needed by these applications, making way for the development of autonomous navigation, in many cases with astounding results. The following paper presents a low-cost but high-performance minimal sensor open architecture implemented in a modular vehicle. It was developed in a short period of time, surpassing many of the currently available solutions found in the literature. Diverse experiments were carried out in the controlled and circumscribed environment of an autonomous circuit that demonstrates the efficiency of the applicability of the developed solution.

scholarly journals Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

Sensors ◽  
2020 ◽  
Vol 20 (6) ◽  
pp. 1694 ◽  
Author(s):  
Antonio Concha Sánchez ◽  
Juan Felipe Figueroa-Rodríguez ◽  
Andrés Gerardo Fuentes-Covarrubias ◽  
Ricardo Fuentes-Covarrubias ◽  
Suresh Kumar Gadi
Keyword(s):  
Robot Manipulator ◽  
Low Cost ◽  
Open Architecture ◽  
Motion Controller ◽  
Optical Encoder ◽  
Matlab Simulink ◽  
Open Hardware ◽  
Educational Robot ◽  
Open Source Hardware ◽  
Motor Velocity

This article presents a methodology to recycle and upgrade a 4-DOF educational robot manipulator with a gripper. The robot is upgraded by providing it an artificial vision that allows obtaining the position and shape of objects collected by it. A low-cost and open-source hardware solution is also proposed to achieve motion control of the robot through a decentralized control scheme. The robot joints are actuated through five direct current motors coupled to optical encoders. Each encoder signal is fed to a proportional integral derivative controller with anti-windup that employs the motor velocity provided by a state observer. The motion controller works with only two open-architecture Arduino Mega boards, which carry out data acquisition of the optical encoder signals. MATLAB-Simulink is used to implement the controller as well as a friendly graphical interface, which allows the user to interact with the manipulator. The communication between the Arduino boards and MATLAB-Simulink is performed in real-time utilizing the Arduino IO Toolbox. Through the proposed controller, the robot follows a trajectory to collect a desired object, avoiding its collision with other objects. This fact is verified through a set of experiments presented in the paper.

scholarly journals Kinetics and isotherm modeling of Pb(II) and Cd(II) sequestration from polluted water onto tropical ultisol obtained from Enugu Nigeria

2021 ◽  
Vol 11 (4) ◽  
Author(s):  
Theresa C. Umeh ◽  
John K. Nduka ◽  
Kovo G. Akpomie
Keyword(s):  
Metal Ions ◽  
Low Cost ◽  
Water Environment ◽  
Standard Technique ◽  
Soil Surface ◽  
Cost Effective ◽  
Polluted Water ◽  
Batch Adsorption ◽  
Lead And Cadmium ◽  
Pseudo Second Order

AbstractDeterioration in soil–water environment severely contributed by heavy metal bioavailability and mobility on soil surface and sub-surface due to irrational increase in wastewater discharge and agrochemical activities. Therefore, the feasibility of adsorption characteristics of the soil is paramount in curbing the problem of micropollutant contamination in the farming vicinity. Soil from a farming site in a populated area in Enugu, Nigeria was collected and tested to measure the lead and cadmium contents using atomic absorption spectrophotometer (AAS). The adsorption potency of the ultisol soil was estimated for identifiable physicochemical properties by standard technique. The mean activity concentration of Pb2+ and Cd2+ was 15.68 mg/kg and 3.01 mg/kg. The pH, temperature, metal concentration and contact time adsorptive effect on the Pb2+ and Cd2+ uptake was evaluated by batch adsorption technique. The Langmuir, Freundlich and Temkin models were fitted into equilibrium adsorption data and the calculated results depict a better and satisfactory correlation for Langmuir with higher linear regression coefficients (Pb2+, 0.935 and Cd2+, 0.971). On the basis of sorption capacity mechanism of the soil, pseudo-second-order model best described the kinetics of both metal ions retention process. The results of the present study indicated that the soil being a low cost-effective adsorbent can be utilized to minimize the environmental risk impact of these metal ions.

Hawaii Experimental Acoustics Range for Shallow Water Applications

2011 ◽  
Vol 45 (3) ◽  
pp. 69-76 ◽  
Author(s):  
Tom Fedenczuk ◽  
Eva-Marie Nosal
Keyword(s):  
Shallow Water ◽  
Water Environment ◽  
Shallow Water Acoustics ◽  
Central Node ◽  
Long Baseline ◽  
Wide Range ◽  
Shallow Water Environment ◽  
Near Shore ◽  
Monitoring And Surveillance ◽  
Passive Acoustic

AbstractShallow water acoustics provide a means for monitoring and surveillance of near-shore environments. This paper describes the current and future capabilities of the low- to high-frequency Hawaii Experimental Acoustics Range (HEAR) that was designed to facilitate a wide range of different shallow water acoustics experiments and allow researchers from various institutions to test various array components and configurations. HEAR is a portable facility that consists of multiple hydrophones (12‐16) cabled independently to a common central node. The design allows for variable array configurations and deployments in three modes: experimental (off boats and piers), autonomous, and cabled. An application of HEAR is illustrated by the results from a deployment at Makai Research Pier, Oahu, Hawaii. In this deployment, HEAR was configured as a long-baseline range of two volumetric subarrays to study passive acoustic tracking capabilities in a shallow water environment.

scholarly journals Analysis of wind-driven ambient noise in a shallow water environment with a sandy seabed

2008 ◽  
Vol 124 (3) ◽  
pp. EL157-EL162 ◽  
Author(s):  
D. P. Knobles ◽  
S. M. Joshi ◽  
R. D. Gaul ◽  
H. C. Graber ◽  
N. J. Williams
Keyword(s):  
Shallow Water ◽  
Ambient Noise ◽  
Water Environment ◽  
Shallow Water Environment

Aldebarania arenitea, a new genus and species of Astropectinidae (Asteroidea; Echinodermata) from the Maastrichtian (Upper Cretaceous) Peedee Formation of North Carolina

1995 ◽  
Vol 69 (2) ◽  
pp. 376-380 ◽  
Author(s):  
Daniel B. Blake ◽  
Keith Sturgeon
Keyword(s):  
North Carolina ◽  
Shallow Water ◽  
Phylogenetic Relationships ◽  
Upper Cretaceous ◽  
New Genus ◽  
Water Environment ◽  
New Genus And Species ◽  
Marine Fauna ◽  
Shallow Water Environment

Aldebarania arenitea (Astropectinidae; Asteroidea; Echinodermata) is described from the Rocky Point Member of the Maastrichtian (Upper Cretaceous) Peedee Formation of North Carolina. A turbulent, shallow-water environment is suggested by sedimentary features, a diverse marine fauna, and the morphology of Aldebarania. Aldebarania appears to be a partial ecological equivalent of living Astropecten and Luidia; however, phylogenetic relationships within the Astropectinidae are unstudied and the origin of similarities is unknown.

Trilobites from the Ordovician Shihtzupu Formation, Zunyi, Guizhou Province, China

1984 ◽  
Vol 75 (1) ◽  
pp. 13-36 ◽  
Author(s):  
Zhiyi Zhou ◽  
Gongzheng Yin ◽  
Ronald P. Tripp
Keyword(s):  
Shallow Water ◽  
Water Environment ◽  
Guizhou Province ◽  
Type Section ◽  
Shallow Water Environment ◽  
First Time

ABSTRACTTwenty-seven species assigned to 20 genera of trilobites are described from Feilaishi in Guizhou Province, the type section of the Shihtzupu Formation in S W China. They occur in association with a sparse graptolite fauna including Glyptograptus teretiusculus. Eleven taxa are recorded here for the first time. Much new morphological information is provided regarding previously known species and 3 lectotypes are selected. The trilobites are largely endemic and indicate a quiet and comparatively shallow water environment

scholarly journals Passenger ship source level determination in shallow water environment

2016 ◽  
Author(s):  
Mirko Mustonen ◽  
Aleksander Klauson ◽  
Janek Laanearu ◽  
Madis Ratassepp ◽  
Thomas Folegot ◽  
...  
Keyword(s):  
Shallow Water ◽  
Water Environment ◽  
Passenger Ship ◽  
Shallow Water Environment ◽  
Source Level
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