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System for Identifying Target Objects to Perform Manipulative Operations by Unmanned Underwater Vehicles

System for Identifying Target Objects to Perform Manipulativ...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Konoplin, Alexander Yurmanov, Alexander Krasavin, Nikita Piatavin, Pavel Panchuk, Maxim Vasilenko, Roman Institute of Marine Technology Problems Far Eastern Branch Ras Institute of Automation and Control Processes Far Eastern Branch of Ras Vladivostok Russia

ISBN: (纸本)9781665473729

The paper proposes a system for identifying target objects to perform manipulative operations by unmanned underwater vehicles (UUV) equipped with multi-link manipulators (MM). This system processes point clouds received from technical vision systems (TVS) mounted on UUV, and provides high-precision identification of the location and shape of target objects relative to the UUV. Then, the specified trajectories of the MM working tool are translated on the determined surface of the target object, taking into account the possible silting, fouling and deformation of this object. The developed system is implemented in the C++ programming language on the NVIDIA Jetson TX2 on-board computer. The results of recognition of underwater objects using a Zed2 stereo camera placed in a sealed box, calibrated in an aquatic environment using the OpenCV library method, are presented. The experimental data obtained were used to simulate the process of manipulation operation performed by the manipulator of the UUV in the software packages CoppeliaSim and Matlab/Simulink. The research results confirmed the operability and high efficiency of the proposed system. © 2022 IEEE.

关键词： MATLAB

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Ontological Foundation for the Development of a Decision Support System in Laser-Based Additive Manufacturing

Ontological Foundation for the Development of a Decision Sup...

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IEEE Region 8 International Conference on Computational Technologies in Electrical and Electronics Engineering, SIBIRCON

作者： Valeria V. Gribova Yuriy N. Kulchin Alexander I. Nikitin Ekaterina O. Kydryshova Artem A. Basakin Vadim A. Timchenko Department of Information Technologies and Mathematical Modeling Institute of Automation and Control Processes Far Eastern Branch of the Russian Academy of Sciences (IACP FEB RAS) Vladivostok Russia Department of Optoelectronic Methods of Investigating Gaseous and Condenses Media Institute of Automation and Control Processes Far Eastern Branch of the Russian Academy of Sciences (IACP FEB RAS) Vladivostok Russia Department of Photonics and Digital Laser Technologies Far Eastern Federal University (FEFU) Vladivostok Russia Laboratory of High-precision Optical Methods of Measurement Institute of Automation and Control Processes Far Eastern Branch of the Russian Academy of Sciences (IACP FEB RAS) Vladivostok Russia Laboratory of Intelligent Systems named after A. S. Kleshchev Institute of Automation and Control Processes Far Eastern Branch of the Russian Academy of Sciences (IACP FEB RAS) Vladivostok Russia

ISBN: (数字)9798331532024

ISBN: (纸本)9798331532031

The necessity of integrating an intelligent decision support system (DSS) in the professional activities of laser-based additive manufacturing (LBAM) process engineers is discussed. The advantages of applying an ontological two-level approach to the formation of semantic information for developing an ontology-based DSS are highlighted. Its key feature is that ontological models are clearly separated from databases and knowledge bases formed on their basis. A set of related ontological models is presented as the basis for the intelligent DSS that is currently being developed. The composition of the set of models, the purpose of its components, and the possible types of relations between them are described. The set includes ontologies of reference databases on LBAM equipment and materials, an ontology for an archive of laser processing technological operation protocols, an ontology of a knowledge bases on the settings of laser processing modes and an ontology of the mathematical model database. The ensemble of ontological models is implemented on the IACPaaS cloud platform using its tools. Ontologies, databases and knowledge base, as well as DSS, are part of the LBAM knowledge portal, which was created and is being developed on the platform. This portal is intended to accumulate and further use the knowledge and experience collected by different technologists. In the future, it will facilitate the reduction of the number of preliminary experiments required to identify a suitable solution.

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Algorithms of the AUV control system for operation under the lower ice edge

Algorithms of the AUV control system for operation under the...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Inzartsev, Alexander Bagnitckii, Andrey Panin, Mikhail Institute of Automation and Control Processes Far Eastern Branch of Ras Vladivostok Russia Institute of Marine Technology Problems Far Eastern Branch of Ras Vladivostok Russia

ISBN: (纸本)9781665473729

One of the urgent tasks for autonomous underwater vehicles (AUV) is monitoring of marine biological resources and survey of the lower edge of the ice in the circumpolar zones. The main problems for AUV movement during such work are the uneven lower surface of the ice and the need to search for an ice hole for surfacing, which may be required either in accordance with the mission program or in an emergency situation. The report discusses the algorithms of the AUV information and control system, designed to solve these problems. These algorithms ensure the movement of the AUV under the ice at various horizons, with the stabilization of a given distance from the lower edge of the ice, as well as in ice-covered shallow waters. To obtain information about the ice situation, an echolocation system is used in AUV, including several sonars with fixed directional patterns in the front hemisphere of the vehicle. The correctness of the algorithms was investigated using mathematical modeling methods. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Automatic Brightness Correction Method for Side Scan Sonar Echograms

Automatic Brightness Correction Method for Side Scan Sonar E...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Pavin, Alexander Khodorenko, Maxim Institute of Automation and Control Processes Far Eastern Branch of Ras Vladivostok Russia Institute of Marine Technology Problems Far Eastern Branch of Ras Vladivostok Russia

ISBN: (纸本)9781665473729

Side-scan sonar is very important in marine survey such as seafloor exploration, topography, underwater pipeline investigation and so on. SSS-echograms classification and mosaicking are essential during those tasks. Initial side-scan sonar images have uneven brightness distribution. Mosaicking proved difficult due to grayscale gradients on sonar echograms. Brightness equalizing is necessary prior to processing of SSS-echograms. This article discusses methods for brightness equalizing of the echogram images from side-scan sonar in order to identify local inhomogeneities of the seafloor. It provides results of comparative experiments using different approaches to solve this problem. The paper also evaluates the possibility of using these methods on board autonomous underwater robots in real time. © 2022 IEEE.

关键词： Image enhancement

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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...

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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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Femtosecond Laser-Induced Periodic Surface Structures Formation on optical fibers

Femtosecond Laser-Induced Periodic Surface Structures Format...

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International Conference on Laser Optics

作者： Kirill Bronnikov Semyon Gladkikh Vadim Terentiev Victor Simonov Sergey Mikerin Sergey Babin Aleksandr Kuchmizhak Alexander Dostovalov Institute of Automation and Electrometry of the SB RAS Novosibirsk Russia ITMO University Saint-Petersburg Russia Institute of Automation and Control Processes of the FEB RAS 5 Radio St Vladivostok Russia Pacific Quantum Center Far Eastern Federal University Vladivostok Russia

ISBN: (数字)9798350390674

ISBN: (纸本)9798350390681

Highly regular thermochemical laser-induced periodic surface structures (TLIPSS) were produced on the thin Ti metal film deposited on a curved side surface of optical fiber using femtosecond IR laser pulses. The significant dependence of structures regularity on the laser polarization direction relative to the fiber axis was revealed. Results of TLIPSS formation on fiber tip and their practical applications are presented.

关键词： Optical fiber polarization Surface emitting lasers Metals Surface structures Pulsed laser deposition Ultrafast optics Laser pulses

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A Method for Underwater Pipeline Tracking from Stereo Images

A Method for Underwater Pipeline Tracking from Stereo Images

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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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2D Laser-Induced Periodic Surface Structures Formation on Thin Metal Films by Femtosecond Laser Radiation

2D Laser-Induced Periodic Surface Structures Formation on Th...

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International Conference on Laser Optics

作者： K. Bronnikov S. Gladkikh S. Mikerin V. Terentiev V. Simonov A. Kuchmizhak A. Dostovalov Institute of Automation and Electrometry of the SB RAS Novosibirsk Russia ITMO University Saint-Petersburg Russia Institute of Automation and Control Processes of the FEB RAS Vladivostok 5 Radio St. Russia Pacific Quantum Center Far Eastern Federal University Vladivostok Russia

D(grid and honeycomb) highly regular thermochemical laser-induced periodic surface structures (TLIPSS) were produced on Ti, Cr and Hf thin metal film (30100 nm) deposited on a glass substrate using femtosecond IR lase... 详细信息

ISBN: (数字)9798350390674

ISBN: (纸本)9798350390681

关键词： Hafnium Glass Pulsed laser deposition Surface structures Ultrafast optics Laser pulses Substrates

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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...

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Ocean Studies (ICOS), International Conference on

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

ISBN: (数字)9798331532307

ISBN: (纸本)9798331532314

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.

关键词： Accuracy Sea measurements Autonomous aerial vehicles Vectors Real-time systems Trajectory Aircraft Vehicle dynamics Splines (mathematics) Standards

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Method of automatic formation of the underwater manipulator motion program based on noise three-dimensional models

Method of automatic formation of the underwater manipulator ...

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Ocean Studies (ICOS), International Conference on

作者： Dmitry Yukhimets Olivia Popova Sevastopol State University Sevastopol Russia Institute of Automation and Control Processes FEB RAS Vladivostok Russia Department of Automation and Robotics Far Eastern Federal University Vladivostok Russia

The paper presents the method of automatic formation of the multi-link manipulator (MM) of underwater vehicle (UV) movement program using noise three-dimensional model of underwater objects obtained by their computer vision system (CVS). A feature of the proposed method is the automatic selection of a set of elementary trajectories (straight lines and circular arcs) in the trajectory of the working tool (WT) of MM laid on the surface of a three-dimensional model of an object unknown in advance. The specified allocation takes place using the RANSAC algorithm, which allows considering a large amount of noise contained in the specified model. This makes it possible to increase the accuracy of performing underwater technological operations using MM by providing more accurate stabilization of the UV during MM operation. The conducted mathematical modeling has shown that the proposed algorithm is workable and effective in conditions of high noise of three-dimensional models and can be used for automatic performing technological operations.

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