A5004133609- Underwater Vehicles and Communication Systems
- Maritime Navigation and Safety
- Adaptive Control of Nonlinear Systems
- Robotic Path Planning Algorithms
- Water Quality Monitoring Technologies
- Robotics and Sensor-Based Localization
- Underwater Acoustics Research
- Modular Robots and Swarm Intelligence
- Distributed Control Multi-Agent Systems
- Advanced Control Systems Optimization
- Target Tracking and Data Fusion in Sensor Networks
- Advanced Control Systems Design
- Maritime and Coastal Archaeology
- Fault Detection and Control Systems
- Human-Automation Interaction and Safety
- Robotics and Automated Systems
- Inertial Sensor and Navigation
- Control Systems and Identification
- Extremum Seeking Control Systems
- Oil Spill Detection and Mitigation
- Marine animal studies overview
- Sensor Technology and Measurement Systems
- Teleoperation and Haptic Systems
- Regional Development and Management Studies
- Hand Gesture Recognition Systems
University of Zagreb
2016-2025
University of California, Los Angeles
2014
École Polytechnique Fédérale de Lausanne
2014
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,...
The current procedures for measuring underwater radiated noise (URN) are designed cooperating vessels in controlled areas. As such, not a lot of data is available the URN unidentified opportunity (VOO), especially small that do carry an automatic identification systems (AIS). To this end, we assembled database 1148 VOO's from acoustic and visual recordings ferries, fishing boats, yachts, speed boats made within Šibenik canal, Croatia. comprises source pressure levels at closest point...
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 describes an underwater acoustic sensor network consisting of a heterogeneous robotic swarm used for long-term monitoring environments. The consists large number robots acting as nodes with limited movement capabilities, and few surface aiding them in accomplishing scenarios. Main interactions between two types include deployment relocation, energy data exchange, localisation aiding. Hardware capabilities each vehicle are described detail. Inter-agent communication is split into...
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...
Aquaculture net pens inspection and monitoring are important to ensure stability fish health in the farms. Remotely operated vehicles (ROVs) offer a low-cost sophisticated solution for regular of underwater due their ability visual sensing autonomy challenging dynamic aquaculture environment. In this paper, we report integration an ROV with servoing scheme tracking pens. We propose vision-based positioning that consists object detector, pose generator, closed-loop controller. The system...
Abstract To design high‐level control structures efficiently, reasonable mathematical model parameters of the vessel have to be known. Because sensors and equipment mounted onboard marine vessels can change during a mission, it is important an identification procedure that will easily implementable time preserving result in accurate enough perform controller design. This paper introduces one such method, which based on self‐oscillations (IS‐O). The described methodology used identify...
Autonomous underwater navigation presents a whole set of challenges to be resolved in order become adequately accurate and reliable. That is particularly critical when human divers work close collaboration with autonomous vehicles (AUVs). In absence global positioning signals underwater, acoustic based sensors such as LBL (long-baseline), SBL (short-baseline) USBL (ultrashort-baseline) are commonly used for localization. addition these low-bandwidth high latency technologies, cameras sonars...
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...
Underwater Radiated Noise (URN) from vessels has become a significant area of focus in the marine pollution research agenda due to its potentially adverse effects on life. URN monitoring and mitigation efforts have been directed primarily toward large commercial (e.g., container ships), which led accumulation extensive data through standardized measurements. However, this is not case for small vessels. Small vessels, such as motorboats yachts are much more abundant coastal waters previous...
Biodiversity monitoring requires the discovery of multi-target tracking. The main requirement is not to reduce localization error but continuity tracks: a high ratio between duration track and lifetime target. To this end, we present an algorithm for detecting tracking mobile underwater targets that utilizes reflections from active acoustic emission broadband signals received by rigid hydrophone array. method overcomes problem false alarm rate applying approach sequence reflections. A 2D...
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...
Abstract Divers operate in harsh and poorly monitored environments, which the slightest unexpected disturbance, technical malfunction, or lack of attention can have catastrophic consequences. Motivated by these considerations, “CADDY—Cognitive Autonomous Diving Buddy” FP7 project sets forth main goal developing a cooperative autonomous underwater robotic system to monitor assist human divers, thus affording them increased levels safety during execution challenging scientific commercial...
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...
The high-risk nature of SCUBA diving activities is usually dealt with by pairing up divers and adopting well defined rules for operations to reduce the chance accidents. However, during more challenging dives (such as technical dives) these procedures may not be sufficient ensure almost accident-free operations, must manoeuvre in complex 3D environments, carry cumbersome equipment, focus attention on operational details. Technological advancement research related diver safety, navigation...
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 research presented in this paper is aimed at developing a control algorithm for an autonomous surface system carrying two-sensor array consisting of two acoustic receivers, capable measuring the time-difference-of-arrival (TDOA) quasiperiodic underwater signal and utilizing value to steer toward source horizontal plane. Stability properties proposed are analyzed using Lie bracket approximation technique. Furthermore, simulation results presented, where particular attention given...