The increasing concern in environmental impacts contributed by the shipping industry leads to a growing interest toward incorporating sustainable energy sources conventional power systems, reduce fuel consumption and emissions. However, such advance system architectures tend face greater challenges optimal allocation due increased flexibility split load among multiple diversified operations of different vessel types. To address management challenges, this paper, an instantaneous...

Accurate motion estimation plays a crucial role in state of an unmanned aerial vehicle (UAV). This is usually carried out by fusing the kinematics inertial measurement unit (IMU) with video output camera. However, accuracy existing approaches hindered discretization effect model even at high IMU sampling rate. In order to improve accuracy, we propose new integration for continuous time. The are modeled using switched linear system. A closed-form discrete formulation derived compute mean...

Manta Ray generates thrust force by flapping two pectoral fins, which inspires the parametric study of fin that affects swimming performance. In this paper, design a robotic manta ray (RoMan-III) will be presented. A biomimetic model discussed. The forward motion, turning and gliding motions are considered in Ray's locomotion. Parameters related to generation include amplitude, frequency, area, shape. is derived based on simplified Bernoulli equation. scheme motion control also suggested for...

Using a single human to supervise multiple robots helps address manpower constraints while deriving the benefits of multiple-robot deployment such as efficiency and improved system reliability. However, it can also induce high supervisor workload diminish situation awareness. This article explains It reviews various studies related human–robot systems illustrate effects causes diminished awareness in systems. The discusses application automation situation-awareness concerns. presents issues...

Abstract In this article, the challenges facing museums to offer more ways provide information for learning have been reviewed. The use of social robotics has explored within a museum setting, guiding tours as well heritage languages and cultures. article focuses on design development two robots museum. first robot is virtual human character mounted mobile robotic platform. It implemented serve guide. second humanoid. programmed bilingualism, which injected elements culture education....

Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate is proposed in this work. There are two main challenges for flights: (i) the trust characteristics varies drastically different distance from results complex nonlinear dynamics; (ii) system needs consider physical environmental constraints safely fly proximity. To address these challenges, novel...

The range-gated imaging systems are reliable underwater system with the capability to minimize backscattering effect from turbid media. tail-gating technique has been developed fine tune signal ratio and hence improve gated image quality. However, limited quality enhancement in high turbidity levels. In this paper, we a numerical model of for near target medium. simulation results matched experimental work favorably. Further investigation using shows that multiple scattering components noise...

The interaction between humans and robots is undergoing an evolution. Progress in this evolution means that are close to robustly deploying multiple robots. Urban search rescue (USAR) can benefit greatly from such capability. review shows with state of the art artificial intelligence, work autonomously but still require human supervision. It also robot deployment (MRD) more economical, shortens mission durations, adds reliability as well addresses missions impossible one payload constraints....

The Singapore used water transport infrastructure comprises of three sewage systems: trunk sewer, link sewer network and the Deep Tunnel Sewerage System (DTSS). It is a solution towards Singapore's long-term needs such as collection, treatment, reclamation disposal. Environmental conditions activities in outside tunnels can lead to deterioration tunnel assets liner cracking, dislocated joints or even collapsed sections over an extended period. Leaks from may contaminate surrounding land pose...

A method of free gait generation for quadrupeds is presented by introducing the primary/secondary gait. The primary a fixed sequence leg transfers with modified leg-ends kinematic limits according to obstacle presence, while secondary flexible which generated adjust leg-end position. Using proposed method, machine tends move during motion. When cannot vehicle, adopted serve as complement Four constraints, namely, stability constraint, sequential constraint and neighboring are considered when...

The current paper proposes a robust and decoupled cascaded control system with output feedback for simultaneous stabilization pipeline tracking of remotely operated vehicle (ROV) under hydrodynamic uncertainties. One the ROV applications on was global backstepping method an ODIN ROV. However, controller design becomes complex, as partial differential equations are required in law ROVs is inherently non-linear, highly coupled motion, unsymmetrical design, vulnerable to Compared other...

Achieving human-robot cooperation in a telerobotics system is the focus of this paper. The implementation systems can be extremely challenging when robot not directly controlled by human. interaction mode, depending on task context, continuous manual, semi-autonomous or autonomous. To address Human-Robot Interaction (HRI) issues such system, concept seamless HRI introduced. Seamless implies flexibility human control interacting with different situations, and adaptability autonomy response to...

Employing an inertial measurement unit (IMU) as additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the linear acceleration from IMU. In this paper, a novel model is proposed by switched systems. The approach assumes that angular velocity in body frame constant between two consecutive measurements. This more realistic real world situation compared to existing...