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Sobre
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Sobre

Investigador em robótica subaquática. Mais informações em http://oceansys.fe.up.pt/

Tópicos
de interesse
Detalhes

Detalhes

018
Publicações

2021

Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

Autores
da Silva, MF; Honorio, LMD; dos Santos, MF; Neto, AFD; Cruz, NA; Matos, ACC; Westin, LGF;

Publicação
IEEE ACCESS

Abstract
To gather hydrological measurements is a difficult task for Autonomous Surface Vessels. It is necessary for precise navigation considering underwater obstacles, shallow and fast water flows, and also mitigate misreadings due to disturbs caused by their propulsion system. To deal with those problems, this paper presents a new topology of an Autonomous Surface Vessel (ASV) based on a catamaran boat with an aerial propulsion system with azimuth control. This set generates an over-actuated 3 Degree of Freedom (DoF) ASV, highly maneuverable and able of operating over the above-mentioned situations. To deal with the high computational cost of the over-actuated control allocation (CA) problem, this paper also proposes a Fast CA (FCA) approach. The FCA breaks the initial nonlinear system into partially-dependent linear subsystems. This approach generates smaller connected systems with overlapping solution spaces, generating fast and robust convergence, especially attractive for embedded control devices. Both proposals, i.e., ASV and FCA, are assessed through mathematical simulations and real scenarios.

2021

A Performance Analysis of Feature Extraction Algorithms for Acoustic Image-Based Underwater Navigation

Autores
Oliveira, AJ; Ferreira, BM; Cruz, NA;

Publicação
Journal of Marine Science and Engineering

Abstract
In underwater navigation, sonars are useful sensing devices for operation in confined or structured environments, enabling the detection and identification of underwater environmental features through the acquisition of acoustic images. Nonetheless, in these environments, several problems affect their performance, such as background noise and multiple secondary echoes. In recent years, research has been conducted regarding the application of feature extraction algorithms to underwater acoustic images, with the purpose of achieving a robust solution for the detection and matching of environmental features. However, since these algorithms were originally developed for optical image analysis, conclusions in the literature diverge regarding their suitability to acoustic imaging. This article presents a detailed comparison between the SURF (Speeded-Up Robust Features), ORB (Oriented FAST and Rotated BRIEF), BRISK (Binary Robust Invariant Scalable Keypoints), and SURF-Harris algorithms, based on the performance of their feature detection and description procedures, when applied to acoustic data collected by an autonomous underwater vehicle. Several characteristics of the studied algorithms were taken into account, such as feature point distribution, feature detection accuracy, and feature description robustness. A possible adaptation of feature extraction procedures to acoustic imaging is further explored through the implementation of a feature selection module. The performed comparison has also provided evidence that further development of the current feature description methodologies might be required for underwater acoustic image analysis.

2020

Cross-Sensor Quality Assurance for Marine Observatories

Autores
Diamant, R; Shachar, I; Makovsky, Y; Ferreira, BM; Cruz, NA;

Publicação
REMOTE SENSING

Abstract
Measuring and forecasting changes in coastal and deep-water ecosystems and climates requires sustained long-term measurements from marine observation systems. One of the key considerations in analyzing data from marine observatories is quality assurance (QA). The data acquired by these infrastructures accumulates into Giga and Terabytes per year, necessitating an accurate automatic identification of false samples. A particular challenge in the QA of oceanographic datasets is the avoidance of disqualification of data samples that, while appearing as outliers, actually represent real short-term phenomena, that are of importance. In this paper, we present a novel cross-sensor QA approach that validates the disqualification decision of a data sample from an examined dataset by comparing it to samples from related datasets. This group of related datasets is chosen so as to reflect upon the same oceanographic phenomena that enable some prediction of the examined dataset. In our approach, a disqualification is validated if the detected anomaly is present only in the examined dataset, but not in its related datasets. Results for a surface water temperature dataset recorded by our Texas A&M-Haifa Eastern Mediterranean Marine Observatory (THEMO)-over a period of 7 months, show an improved trade-off between accurate and false disqualification rates when compared to two standard benchmark schemes.

2019

Altitude control of an underwater vehicle based on computer vision

Autores
Rodrigues, PM; Cruz, NA; Pinto, AM;

Publicação
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Abstract
It is common the use of the sonar technology in order acquire and posteriorly control the distance of an underwater vehicle towards an obstacle. Although this solution simplifies the problem and is effective in most cases, it might carry some disadvantages in certain underwater vehicles or conditions. In this work it is presented a system capable of controlling the altitude of an underwater vehicle using computer vision. The sensor capable of computing the distance is composed of a CCD camera and 2 green pointer lasers. Regarding the control of the vehicle, the solution used was based on the switching of two controllers, a velocity controller (based on a PI controller), and a position controller (based on a PD controller). The vehicle chosen to test the developed system was a profiler, which main task is the vertical navigation. The mathematical model was obtained and used in order to validate the controllers designed using the Simulink toolbox from Matlab. It was used a Kalman filter in order to have a better estimation of the state variables (altitude, depth, and velocity). The tests relative to the sensor developed responsible for the acquisition of the altitude showed an average relative error equal to 1 % in the range from 0 to 2.5 m. The UWsim underwater simulation environment was used in order to validate the integration of the system and its performance. © 2018 IEEE.

2019

Optimizing the Power Budget of Hovering AUVs

Autores
Cruz, NA;

Publicação
2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings

Abstract
The maximum mission duration and range of an Autonomous Underwater Vehicle are governed by the amount of energy carried on board and the way it is spent during the mission. While an increase in battery capacity and a decrease in electronics demand yield a direct increase in vehicle range, the impact of velocity variation is not so obvious. With slower velocities, most of the energy will be spent in electronics, not in motion, while for faster velocities a lot of energy will be needed to balance drag. Flying-type AUVs have a minimum velocity for the control surfaces to be effective, reducing the range of values for optimization. Hovering type AUVs, on the other hand, are typically slower moving platforms, able to travel at arbitrarily slow velocities. This paper addresses the analysis of the power consumption of hovering type AUVs, providing guidelines and analytical expressions to compute the optimal velocity when the vehicle travels in a single direction, and also when the trajectory is a combination of horizontal and vertical motion. © 2019 IEEE.

Teses
supervisionadas

2020

Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid

Autor
José Pedro Martins Pires e Sousa

Instituição
UP-FEUP

2020

Feature-based underwater localization using an imaging sonar

Autor
António José Ventura de Oliveira

Instituição
UP-FEUP

2020

Controlo de um Pasteurizador com um Autómato Programável

Autor
Fernando Sousa e Silva

Instituição
UP-FEUP

2020

Caraterização de Plumas Tridimensionais com Sistemas Autónomos

Autor
Nuno Filipe Reininho Proença Pereira

Instituição
UP-FEUP

2020

Underwater mapping using a SONAR

Autor
João Pedro Bastos Fula

Instituição
UP-FEUP