Digital Twin technology has emerged to become a key enabling in the ongoing transition into Industry 4.0. A is essence digital representation of an asset that provides better insight its dynamics by combining priori knowledge system through mathematical models with online data acquired from sensors and instruments deployed or at physical asset. While seeing increased use across several different industrial, governmental research sectors, scientific disciplines, application within aquaculture...

This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents unknown direction magnitude. An integral line-of-sight guidance law is presented, which combined with sinusoidal gait pattern directional that steers robot toward along desired path. The stability proposed control scheme ocean investigated by using Poincaré map analysis. Simulation results are presented to illustrate...

Increasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, number of different control design challenges must be solved to realize operational swimming robots tasks. This article proposes and experimentally validates straightline-path-following controller biologically inspired snake In particular, line-of-sight (LOS) guidance law presented, which combined with sinusoidal gait pattern directional that steers the robot toward along desired path. The...

Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model important both controller design and efficient methods. This paper presents of kinematics dynamics planar, snake robot aimed at control design. Fluid contact forces torques are modeled using analytical fluid dynamics. The derived in closed form can be utilized modern model-based schemes. proposed easily implemented simulated, regardless number links. Simulation...

The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation proportional interval pressure. During last decade, there has been an increase in industrial and scientific utilization PMAs, due advantages such as high strength small weight, while various types with different technical characteristics have appeared literature. This will: a) analyze PMA's...

Underwater vehicles have carried out subsea operations for many decades, and since the 1980s, remotely operated (ROVs) been essential development maintenance of installations. As technology has progressed, various types developed to perform inspection, maintenance, repair (IMR) operations, including conventional work class ROVs, inspection autonomous underwater (AUVs), and, more recently, intervention AUVs. The swimming manipulator (USM), presented in this paper, is an innovative bioinspired...

Digital twins and relevant concepts are being applied in a wide variety of ways, they most use when an actual real-world physical system or process (a twin) is changing over time measurement data correlated with this change can be captured. In work, digital twin model was implemented for real-time monitoring aquaculture net cage systems, which notoriously challenging because several difficult-to-measure properties, such as forces on deformation the flexible netting structures, waves flow...

This paper presents a 3D multiple object detection and tracking framework for identifying quantifying changes in fish behaviour through the position, distance speed of with respect to an underwater stereo camera. The consists six essential modules based on identify algorithms track sequential frames. In particular, latest version Yolo (Yolov7) is utilised deep SORT algorithm used tracking. was tested using videos captured from camera industrial-scale sea-based farm. results showed that able...

Snake robots constitute bio-inspired solutions that have been studied due to their ability move in challenging environments where other types of robots, such as wheeled or legged usually fail. In this paper, we consider both land-based and swimming snake robots. One the principal concerns is increase motion efficiency terms forward speed by improving locomotion methods. Furthermore, energy becomes a crucial challenge for type importance long-term autonomy these systems. take into account...

Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such provide superior access through narrow openings within confined areas. This is inspection monitoring operations, instance the subsea oil gas industry marine archeology. In addition, can both intervention are thus candidates next generation AUVs. Furthermore, bioinspired locomotion oscillatory gaits, like lateral undulation eel-like motion, from an energy efficiency...

This letter presents a control system that enables an underwater snake robot to converge towards and follow straight path in the presence of constant irrotational ocean currents. The is assumed be neutrally buoyant, fully submerged moving virtual plane with sinusoidal gait limited link angles. proposed approach uses heading controller exponentially stabilises desired heading, which obtained by integral line-of-sight guidance law. Uniform semiglobal exponential stability formally proved using...

This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The objective is make a neutrally buoyant robot which subject hydrodynamic forces and currents converge desired path traverse with velocity. proposed feedback strategy enforces virtual constraints encode biologically inspired gaits on configuration. constraints, parametrized by states dynamic compensators, used regulate orientation forward...

The majority of present marine finfish production is conducted in flexible net cages which can deform when they are subjected to water movements generated by currents. ability monitor deformation important for performing cage operations and evaluation fish health welfare under changing environment. This paper presents a new method real-time monitoring deformations that based on an integrated approach where positioning sensor data incorporated into numerical model. An underwater system was...

This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based design for the robot, we first derive Euler-Lagrange equations motion system. Subsequently, define geometric relations among generalized coordinates system, method These appropriately defined constraints shape geometry constraint manifold which is submanifold configuration space robot. Furthermore, show that can be made invariant by suitable choice...

Biofouling is a challenge for finfish farming as it can impact cage stability and fish health. Amongst others, current strategies against biofouling rely heavily on removal of using in-situ pressure cleaning nets. The waste released into the water where health cultured fish. Grooming, regular nets to prevent communities from establishing, one novel strategy that currently explored tethered underwater robots. In addition, remotely operated vehicles (ROVs) are used inspection net ensure its...

There is a largely increasing demand for the usage of Unmanned Underwater Vehicles (UUVs) including Remotely Operated (ROVs) underwater aquaculture operations thereby minimizing risks diving accidents associated with such operations. ROVs are commonly used short-distance inspection and intervention Typically, these vehicles human-operated improving sensing capabilities visual scene interpretation will contribute significantly to achieve desired higher degree autonomy within ROV in...

This paper considers straight line path following control of underwater snake robots in the presence constant irrotational currents. An integral line-of-sight (LOS) guidance law is proposed, which combined with a sinusoidal gait pattern and directional controller that steers robot towards along desired path. Integral action introduced to compensate for ocean current effect. The stability proposed scheme currents investigated. In particular, using Poincaré map analysis, we prove state...

Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds some time. More recently, the AUVs entered domain remotely operated (ROVs) to tackle lighter subsea operations, such as inspection, maintenance, repair (IMR) light intervention tasks. The successful transition inspection infrastructure has pushed technology towards equipped with robotic arms. Some attached manipulator arms demonstrated autonomous intervention, but majority tasks are...

The development and experimental evaluation of a prototype endoscopic robotic surgical tool is presented in this article. Smart memory alloys (SMA) are used as wires tendon-driven actuation mechanism. 27V-DOF redundant manipulator cascade configuration N-universal joint modules. kinematics the analyzed simple yet effective controllers relying on constrained non-linear optimization problem offered. tool's shape can be deformed according to predefined profile leading more versatile...

Lately there has been an increasing interest for subsea inspection and intervention tasks, in particular on solutions which combine smaller size, increased flexibility maneuverability, decreased cost. Biologically inspired underwater snake robots (USRs) can provide both capabilities are thus interesting candidates the next generation vehicles. In this paper, we focus a new type of USR equipped with thrusters, maneuverability conventional USRs locomotion traditional marine vessels thrusters....

The use of unmanned underwater vehicles is steadily increasing for a variety applications such as mapping, monitoring, inspection and intervention within several research fields industries, e.g. oceanography, marine biology, military, oil gas. Particularly interesting types are bio-inspired robots snake (USRs). Due to their flexible slender body, these versatile highly maneuverable have better access capabilities than more conventional remotely operated (ROVs). Moreover, the long body allows...

In this paper, a waypoint guidance strategy is proposed for an underwater snake robot. The robot directed to follow path which derived using planning techniques. A first version of the by planner artificial potential field method obstacle avoidance. Afterwards, subsampling path, set waypoints are chosen along path. then defined interconnecting these straight lines. Secondly, line following controller proposed, make desired Simulation results presented, illustrating performance control both...