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AUV Inspection of Subsea Pipelines Using Information from an Onboard Stereo Camera

AUV Inspection of Subsea Pipelines Using Information from an...

引用

Ocean Studies (ICOS), International Conference on

作者： Valery Bobkov Mikhail Morozov Alexander Inzartsev Mikhail Panin Institute of Automation and Control Processes Far Eastern Branch of RAS Vladivostok Russian Federation M.D. Ageev Institute of Marine Technology Problems Far Eastern Branch of RAS Institute of Automation and Control Processes Far Eastern Branch of RAS Vladivostok Russian Federation

ISBN: (数字)9798331532307

ISBN: (纸本)9798331532314

Inspection of underwater pipelines (UP) condition by means of autonomous underwater vehicles (AUVs) requires high precision of vehicle localization relative to UP. One of the possible solutions to the problem is recognition of UP using the optical images from AUV onboard stereocamera. Applied in this work method is based on recognition of visible borders at 2D photographs with subsequent recovery of spatial parameters of a scene, including location and orientation of UP in AUVcentered coordinate system. Computational experiments were conducted to test the presented methods. They consisted of debugging the model of the AUV behavior during the inspection of UP, evaluating the effectiveness of the developed methods on virtual scenes, as well as on the real data obtained by a monocamera via the AUV tracking along pipeline. The results of estimating the accuracy of UP localization on real data and also in computational experiments have shown that proposed methods could provide the required navigation accuracy of the AUV relative to pipeline during inspection.

关键词： Location awareness Autonomous underwater vehicles Accuracy TV Shape Computational modeling Surface resistance Pipelines Inspection Data models

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Formation control of AUV on the Base of Visual Tracking of AUV-Leader

Formation Control of AUV on the Base of Visual Tracking of A...

引用

2021 International Russian automation Conference, RusAutoCon 2021

作者： Filaretov, Vladimir Yukhimets, Dmitry Institute of Automation and Control Processes Feb Ras Robotics Laboratory Vladivostok Russia Institute of Marine Technology Problem Feb Ras Institute of Automation and Control Processes Feb Ras Vladivostok Russia

ISBN: (纸本)9780738131566

In this paper, a method for the synthesis of a group control system for AUV moving in the leader-follower mode was proposed. The position of the follower relative to the leader is proposed to be determined using an on-board video camera, which recognized the light beacons installed on the leader's body. The obtained information is used to form an estimate of the position of the target point in the coordinate system of the follower with a frequency sufficient for the implementation of high-precision robust control systems. A method for synthesizing a control system that provides a desired quality of control independently from changes in the parameters of the AUV-follower was proposed. The results of mathematical simulation confirmed the high quality of control provided by the proposed system. © 2021 IEEE.

关键词： Computer vision

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A Method for Underwater Pipeline Tracking from Stereo Images

A Method for Underwater Pipeline Tracking from Stereo Images

引用

Ocean Studies (ICOS), International Conference on

作者： Valeriy Bobkov Antonina Shupikova Alexander Inzartsev Processes Far Eastern Branch of RAS Institute of Automation and Control Vladivostok Russian Federation Institute of Automation and Control Processes Far Eastern Branch of RAS M. D. Ageev Institute of Marine Technology Problems Far Eastern Branch of RAS Vladivostok Russian Federation

ISBN: (数字)9798331532307

ISBN: (纸本)9798331532314

In this article, we consider the issue of underwater pipeline (UP) inspection with an autonomous underwater vehicle. As part of the unified approach to addressing the problem of UP tracking, we propose a number of methods based on processing of stereo images to recognize and calculate the position of UP; describe the developed technique of image vectorization and a computationally cost-effective modification of the Hough algorithm; and propose a method for UP tracking based on search for the centerline of the current UP segment using the validation criteria of fixed solution. The reliability criterion is based on analysis of generated 3D points of a scene. The analysis was carried out and comparative estimates of the developed algorithms were obtained in experiments with simulated and actual data. The advantage of methods using 3D point cloud analysis from stereo images over vectorization methods in terms of both accuracy and speed of data processing is shown for the UP tracking problem.

关键词： Point cloud compression Visualization Three-dimensional displays Image recognition Navigation Oceans Pipelines Inspection Search problems Reliability

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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Nonparametric Soft Sensor Development for Distillation-In-Series Unit

Nonparametric Soft Sensor Development for Distillation-In-Se...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Igor Mozharovskii Svetlana Shevlyagina Institute of Automation and Control Processes FEB RAS Vladivostok Russia Vladivostok State University Vladivostok Russia

ISBN: (数字)9798350395013

ISBN: (纸本)9798350395020

Oil refining is an energy-intensive process that continuously separates petroleum products. Refining companies are interested in products that meet all regulations and the efficiency of their production. It is possible to achieve cost minimization and increase the quality of the output product by using accurate soft sensors that can reliably predict the quality of the output product in real time. In this regard, research on the construction of reliable soft sensors in industrial production is necessary and relevant. To improve the estimation capability, the alternating conditional expectation algorithm, which is based on nonparametric optimal transformations, was used for nonparametric soft sensor design. As a result, the designed nonparametric soft sensor shows a better efficiency in predicting the quality index of the target distillation product with a significantly reduced root mean square error compared to multiple linear regression analysis.

关键词： Accuracy Soft sensors Refining Linear regression Training data Production Prediction algorithms

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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

引用

2024 International Conference on Ocean Studies, ICOS 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Intelligent Information Systems for Marine Robots Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Robotic Systems Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798331532307

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Development of a Dynamic Model of an Underwater Manipulator in Identification Form 9th

Development of a Dynamic Model of an Underwater Manipulator ...

引用

9th International Conference on Interactive Collaborative Robotics, ICR 2024

作者： Filaretov, Vladimir Zuev, Aleksandr Timoshenko, Aleksandr Institute of Automation and Control Processes FEB RAS 5 Radio St. Vladivostok690041 Russia M.D. Ageev Institute of Marine Technology Problems FEB RAS 5a Sukhanova St Vladivostok690091 Russia Far Eastern Federal University 12/2 Mordovtseva St. Vladivostok690091 Russia

ISBN: (纸本)9783031713590

The paper proposes a new method for constructing dynamic models of underwater manipulators installed on board autonomous underwater vehicles. These models are designed to identify unknown parameters of the interaction of an underwater manipulator with a viscous medium during its movement. A feature of these models is that unknown parameters, including coefficients of added masses and damping coefficients, are included in the equations of dynamics of the manipulator linearly relative to known kinematic parameters. These coefficients can be determined using classical identification methods such as the least squares method or methods based on the application of the linear Kalman filter. The identified parameters can then be used in adaptive underwater manipulator control systems to implement automatic execution of underwater technological operations. To do this, the identification procedure must be carried out in close proximity to the intended working area of the underwater vehicle with a manipulator, where the desired coefficients can be considered constant. The correctness of the proposed models and the possibility of identifying these coefficients were verified during mathematical simulation of the movement of an underwater vehicle with a manipulator mounted on it at various initial parameters of a viscous medium. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Kalman filters

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Development of a Method for Generating Extremely High Reference Motion Speeds of Mechatronic Objects Moving Alone or in a Group

Development of a Method for Generating Extremely High Refere...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes Feb Ras Robotics Laboratory Vladivostok Russia M.D. Ageev Institute of Marine Technology Problems Feb Ras Laboratory of Robotic Systems Vladivostok Russia Admiral G.I. Nevelskoy Maritime State University Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798350395044

The paper presents the results of developing a method for generating reference control signals that describe the desired law of movement of various mechatronic objects (unmanned aerial vehicles, mobile land and underwater robots, etc.) along smooth trajectories specified by parametric splines. In order to maintain high dynamic accuracy of control of these mechatronic objects, including when solving group control problems, it is proposed to adjust their reference movement speed, taking into account the specified restrictions on the developed accelerations. Taking into account these restrictions is necessary to reduce the reference speed in sections of the trajectory with increased curvature. To implement the proposed approach, a method was developed and a system was synthesized, the performance of which was confirmed by the results of numerical simulation. The presented system is designed to operate in conditions where the reference trajectory of a mechatronic object is unknown in advance and is formed (or adjusted) directly during the mission without the possibility of preliminary calculations. Also, this system does not require complex calculations and can be implemented on the basis of low-power on-board computers. © 2024 IEEE.

关键词： Motion planning

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Comparison Study of Different Types of Setting Reference Movements for Mechatronic Objects by Parametric Splines

Comparison Study of Different Types of Setting Reference Mov...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes Feb Ras Sevastopol State University Robotics Laboratory Sevastopol Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Robotic Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper presents a comparative study of various ways of specifying program movements for mechatronic objects (MO) along complex spatial trajectories defined by parametric Bezier splines, B-splines and third-order Catmull-Rom splines. An expression is obtained to describe the dependence of the rate of change of the parameter setting the desired position of the MO with the program speed of its movement, taking into account information about the type of trajectory. As a result, using this expression, which is universal for all the specified parametric splines of the third order, it is ensured that the MO moves along the trajectory exactly at a given speed while simultaneously changing its orientation as desired. The application of the methods considered in this paper does not require complex iterative calculations and allows one to perform all the necessary calculations in real time, even on low-power on-board computers of various robots and robotic complexes. Numerical modeling was carried out to analyze the features of the use of these splines in solving practical problems. © 2022 IEEE.

关键词： Trajectories

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Robust Virtual Sensors Design

Robust Virtual Sensors Design

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Zhirabok, Alexey Zuev, Alexander Shumsky, Alexey Far Eastern Federal University Department of Automatics and Robotics Vladivostok Russia Robotics Laborator Institute of Automation and Control Processes Feb Ras Vladivostok Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

The problem of robust virtual sensors design in linear systems under disturbance is studied. The suggested approach based on the reduced order model of the original system and singular value decomposition enables obtaining virtual sensor of minimal dimension insensitive or having minimal sensitivity to the disturbance. The problems is solved in three steps: at the first step, the linear model insensitive to the disturbance is designed;at the second step, a possibility to estimate the given variable is checked;finally, sliding mode observer is constructed. If the model insensitive to the disturbance does not exist, the minimal sensitivity is achieved. The theoretical results are illustrated by the example of three-tank system. © 2022 IEEE.

关键词： Linear systems

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