Water pollution generated by accidental spill of hazardous materials is a growing problem worldwide. There an urgent need for tool that would help environmental response teams perform rapid understanding the location and extent to effectively establish appropriate response. This paper presents cooperative robotic system monitoring consisting autonomous underwater vehicle (AUV) unmanned surface (USV). The main contributions are systematic description design implementation proposed system,...

This article presents navigation, guidance and control (NGC) experimental results obtained on an innovative overactuated unmanned surface marine vessel (USV) capable of omnidirectional motion. The were during sea trials in real environmental conditions where external disturbances sensor characteristics have significant influence the vehicle behavior. While performing NGC experiments, following set behaviors is demonstrated: (1) successful heading even cases when USV simultaneous motion; (2)...

In the scenario where an underwater vehicle tracks target, reliable estimation of target position is required. While USBL measurements provide at low but regular update rate, multibeam sonar imagery gives high precision in a limited field view. This paper describes development tracking filter that fuses and processed image for targets purpose obtaining estimates steady even cases when either or are not available faulty. The proposed algorithms significantly increase safety scenarios has to...

This paper introduces a new blockchain-assisted key management protocol specifically designed for clustered Underwater Acoustic Sensor Networks (UASNs). The focuses on simplifying cross-cluster reauthentication mobile underwater devices and reducing the risks of internal attacks caused by compromised nodes. To address resource limitations UASN devices, utilizes Elliptic Curve Qu Vanstone (ECQV) certificates, which considerably reduces Public Key Infrastructure (PKI) overhead. Moreover, it...

Diving is a high-risk activity due to the hazardous environment, dependence on technical equipment for life support, complexity of underwater navigation, and limited monitoring from surface. This article describes new concept using an autonomous surface vehicle (ASV) as private satellite that tracks divers, thus significantly increasing diving safety. Since above diver at all times, acoustic communication with interface in form tablet more efficient robust, which enhances navigation enables...

SCUBA diving activities are classified as high-risk due to the dangerous environment, dependency on technical equipment that ensures life support, reduced underwater navigation and communication capabilities all of which compromise diver safety. While autonomous vehicles (AUVs) have become irreplaceable tools for seabed exploration, monitoring, mapping in various applications, they still lack higher cognitive offered by a human diver. The research presented this paper was carried out under...

This article describes concepts evaluated at NATO Undersea Research Centre (NURC) recent experiment as the part of Autonomous Mine Countermeasures (MCM) Program. We investigated possibility reacquisition target with Surface Vehicle (ASV), controlling position ASV relative to location, and tested concept guiding a neutralization weapon based on contact location obtained from hunting mission performed by an Underwater (AUV). Second focuses implementation in open-source MOOS-IvP software...

The tragic Deepwater Horizon accident in the Gulf of Mexico 2010 as well increase deepwater offshore activity have increased public interest counter-measures available for sub-surface releases hydrocarbons. To arrive at proper contingency planning, response managers urge a system instant detection and characterization accidental releases. Along these lines, this paper describes application heterogeneous robotic unmanned vehicles: autonomous underwater vehicle (AUV), surface (USV) aerial...

Diving as a profession and sport is will be one of the most dangerous disciplines known by man. Water not natural habitat for humans people need equipment to breathe underwater. Failure in breathing apparatus, burst eardrum, decompression sickness nitrogen narcosis are just couple problems which can occur during an ordinary dive result injuries, long-term illnesses or even death. The common way reduce risk diving pairs. Use buddy system scuba divers set safety procedures that intended...

The underwater environment is hazardous for humans since they are dependent on technical equipment life support, have limited navigation and communication capabilities with the surface, under constant influence of external environmental disturbances. paper presents effort during initial six months "Advancing Diver-Robot Interaction Capabilities (ADRIATIC)" project. This project builds upon recent research accomplishments in area human-robot interaction. Main efforts geared towards developing...

Marine robotics requires high quality simulators due to complexity and availability of trials at sea. While there are several in the literature, these have gaps applications requiring visual fidelity human-robot interaction. This paper describes Robotics Unity Simulator (MARUS), an open-source simulator for marine based on Unity3D software that aims close those gaps. It can simulate multi-robot systems a environment offering water physics wide array sensors commonly used underwater maritime...

Coastal underwater archaeological sites are by nature dynamic, and often subject to disturbance from the action of waves, currents, sediment, human activity. The need document such comprehensively, accurately, quickly has been driving force behind technological advances in pre-disturbance site mapping since 1960s. Certain challenges remain constant: for technology be affordable robust, with efficient post-processing as well data acquisition times. Non-engineers must able interpret results...

Underwater cultural heritage sites are subject to constant change, whether due natural forces such as sediments, waves, currents or human intervention. Until a few decades ago, the documentation and research of these was mostly done manually by diving archaeologists. This paper presents results integration remote sensing technologies with autonomous marine vehicles in order make task site even faster, more accurate, efficient precisely georeferenced. It includes multibeam sonar, side scan...

This paper presents an implementation of the Sigma-point Unscented Kalman Filter (SP-UKF) used in simulated task open-water navigation two types AUV. The first vehicle is a large cruise-type modeled after Instituto Superior Tecnico, Lisbon Infante. second small, almost fully actuated with tunnel thrusters SSC Pacific, San Diego CETUS II. SP-UKF shows itself, properly taking care details, to be robust methodology which allows for efficient and correct navigation, aided by several typical...

This paper presents the results of multi-national collaboration during sea trial held in coastal waters La Spezia, Italy, period 17 Oct. – 07 Nov. 2012. The was performed as one objectives program which has a goal to achieve entire chain Mine Countermeasures (MCM) using unmanned, robotic platforms. focus activities this perform last events mission: reacquisition, identification and intervention pair collaborating underwater vehicles. trial's were combine expertise systems from different...

This paper described the basic concept behind second and final validation trials of Cognitive Autonomous Diving Buddy (CADDY) system. The CADDY system is composed three components: autonomous surface vehicle (ASV), an underwater (AUV) named BUDDY, a diver. aims to establish innovative setup between diver companion robots (underwater surface) that exhibit cognitive behaviour by adapting diver's physical state, actions, thereby improving overall diving experience assisting Although certain...

Positioning, Navigation and Communication on land would be very difficult nowadays unimaginable without satellite communication networks. The situation underwater is much more complex due to high attenuation of radio waves. Moreover, the different nature above underwater, facilitation relevant data flow between these environments requires existence some kind hub. Idea replicating concept positioning/communication satellites able play both roles simultaneously set up Internet Underwater...

This paper describes the DiverNet system that allows real time reconstruction of diver's posture and its visualization using a virtual 3D model. is network consisting 17 inertial sensors mounted on body, enabling calculation orientation each body part. Based obtained data, diver can be visualized. In addition to that, integration additional for measuring physiological parameters such as breathing rate. first technology used in underwater. Obtained data will increase safety by monitoring...

Plitvice Lakes National Park is the largest national park in Croatia and also oldest from 1949. It was added to UNESCO World Natural Heritage List 1979, due unique physicochemical biological conditions that have led creation of 16 named several smaller unnamed lakes, which are cascading one into next. Previous scientific research proved increased amount dissolved organic matter (pollution) stops travertine processes on Lakes. Therefore, this complex, dynamic but fragile geological,...

This paper presents an overview and preliminary results of the HEKTOR (Heterogeneous Autonomous Robotic System in Viticulture Mariculture) project. An survey applications a heterogeneous cooperative autonomous robotic system, consisting aerial, surface underwater vehicles, mariculture scenarios is presented. Target system are fish net cage inspection (biofouling damage detection) as well biomass estimation. Furthermore, detailed description acquired vehicles given, namely unmanned aerial...

Despite the popularity of buddy system, where a pair divers look out for each other, scuba diving still poses significant risks with 15–30 deaths per 100 000 year. In 2015 edition " <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Diving Medicine Scuba Divers</i> ," it is reported that 86% fatalities involve lone diver, yet elect to dive alone variety reasons including unavailability. A solution this may lie in dedicated autonomous dive-buddy...

The paper presents experimental results for a diver tracking and monitoring controller. controller utilizes an existing non-linear path following design to ensure safe manoeuvring around the diver. Controller kinematics is derived in extended with positioning allow improved observation. Hardware in-the-loop experiments, presented this paper, analyse behaviour on fully-actuated underwater vehicle developed at Laboratory Underwater Systems Technologies (LABUST). During experiments human...

This paper addresses the problem of guiding a simple unmanned underwater vehicle (UUV) from more capable, sonar equipped, platform, preferably an autonomous or surface vessel (AxV). One application this concept, considered in article, is mine neutralization and disposal. First, equipped AxV acquires possible target image. Once location known, expendable UUV released. The position determined imagery onboard AxV. minimal information sent to via acoustic link so that it can converge towards...