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Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers. This study aims to to provide a more stable absolute position visual positioning method for underwater terminal visual docking.

This paper presents a six-degree-of-freedom positioning method for AUV terminal visual docking, which uses lights and triangle codes. The authors use an extended Kalman filter to fuse the visual calculation results with inertial measurement unit data. Moreover, this paper proposes a triangle code recognition and positioning algorithm.

The authors conducted a simulation experiment to compare the underwater positioning performance of triangle codes, AprilTag and Aruco. The results demonstrate that the implemented triangular code reduces the running time by over 70% compared to the other two codes, and also exhibits a longer recognition distance in turbid environments. Subsequent experiments were carried out in Qingjiang Lake, Hubei Province, China, which further confirmed the effectiveness of the proposed positioning algorithm.

This fusion approach effectively mitigates abnormal drift errors stemming from visual positioning and cumulative errors resulting from inertial navigation. The authors also propose a triangle code recognition and positioning algorithm as a supplementary approach to overcome the limitations of tracer light positioning beacons.

This paper aims to provide details of recent developments in robots aimed at applications in the offshore oil and gas industries.

Following a short introduction, this first discusses developments to remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). It then describes the Total-sponsored Autonomous Robot for Gas and Oil Sites (ARGOS) robot challenge. This is followed by a discussion of the Offshore Robotics for Certification of Assets (ORCA) programme. Finally, brief concluding comments are drawn.

Subsea residency and other techniques are being developed that will enhance the availability and capabilities of AUVs and ROVs and reduce their operating costs. Mobile robots that can operate in harsh topside rig environments to monitor and detect hazards arose from ARGOS and are being developed further prior to commercialisation. Bringing together academics and users, the collaborative ORCA programme is making significant progress in the development of aerial, topside and underwater robotic and sensing technologies for rig asset inspection and maintenance.

This paper identifies and describes key development activities that will stimulate the use of robots by the offshore industries.

Following a number of years of trial and experiment, two American chemical tankers, the S.S. Marine Chemist and S.S. Marine Dow‐Chem, chartered by the Dow Chemical Co., of Midland, Michigan, U.S.A., for carrying chemicals from the Dow Texas Division to the markets of the Atlantic seaboard, have been rendered virtually corrosion proof, both in respect of their hulls and tanks. The hulls and ballast tank interiors have been equipped with modernised cathodic devices while the chemical tanks and pipes have been specially lined. Both tankers are owned and operated by Marine Transport Lines Inc. So effective has been the protection afforded by the magnesium anodes with which the hulls have been equipped that cleaning and maintenance painting of the underwater areas have been practically eliminated.

Shipping is one of the major British industries and a valuable source of ‘invisible exports’ by virtue of its earnings of foreign currencies. One of the major costs incurred by shipping companies is that of preventing the corrosion of their vessels and at a rough estimate it is probable that something like £30 million is expended annually in countering the corrosion of ships and harbour installations. Ships are constructed mainly of steel and their protection is essentially a particular aspect of the problem of protecting steel against corrosion. Aluminium alloys and newer materials such as plastic sheets are being increasingly used on board ships, but these materials do not offer quite the same difficulty as regards protection nor is the problem yet of the same magnitude. Painting is the most widely used means of protection and the present article deals with some of the problems associated with the painting of ships from the point of view of a paint manufacturer.

Underwater shuttle is widely used in scenarios of deep sea transportation and observation. As messages are transmitted via the limited network, high transmission time-delay often leads to information congestion, worse control performance and even system crash. Moreover, due to the nonlinear issues with respect to shuttle’s heading motion, the delayed transmission also brings extra challenges. Hence, this paper aims to propose a co-designed method, for the purpose of network scheduling and motion controlling.

First, the message transmission scheduling is modeled as an optimization problem via adaptive genetic algorithm. The initial transmission time and the genetic operators are jointly encoded and adjusted to balance the payload in network. Then, the heading dynamic model is compensated for the delayed transmission, in which the parameters are unknown. Therefore, the adaptive sliding mode controller is designed to online estimate the parameters, for enhancing control precision and anti-interference ability. Finally, the method is evaluated by simulation.

The messages in network are well scheduled and the time delay is thus reduced, which increases the quality of service in network. The unknown parameters are estimated online, and the quality of control is enhanced. The control performance of the shuttle control system is thus increased.

The paper is the first to apply co-design method of message scheduling and attitude controlling for the underwater unmanned vehicle, which enhaces the control performance of the network control system.

Laser imaging and ranging systems offer 3‐D imaging of video quality at distances four to five times greater than conventional video and photographic systems. The Spotmap system is based on the laser radar approach, using a pulsed green solid state laser as a transmitter and detecting the time‐of‐flight and peak intensity of the reflected pulses. Images and maps of underwater scenes are obtained by scanning the laser beam across the objects in a raster pattern using a two‐axis optical scanner. The system can be used both in linescan and 2D scan modes of operation such that images can be obtained either from the linear movement of the remotely operated vehicle or from a stationary position. The system has a 90∞ cross‐track FOV and is capable of processing 8,000 points per second, which gives an imaging resolution comparable to video at ROV speeds up to 2m/s.

Underwater protection of new tonnage. John S. Craig & Co. Ltd. have for several years carried out an intensive research programme in order to formulate a satisfactory painting and protective system for the underwater bodies of new ship constructions. Tests resulted in the Clan Sutherland, built by Greenock Dockyard Co. Ltd. for the owners, Messrs. Cayzer, Irvine & Co. Ltd., being coated with the system which had been evolved, consisting of a chemical treatment by Foscote R.S. followed by two coats of Impervo metal primer.

This paper aims to provide an insight into robot developments that use bioinspired design concepts.

Following a short introduction to biomimetics, this paper first provides examples of bioinspired terrestrial, aerial and underwater robot navigation techniques. It then discusses bioinspired locomotion and considers a selection of robotic products and developments inspired by snakes, bats, diving birds, fish and dragonflies. Finally, brief concluding comments are drawn.

The application of design concepts that mimic the capabilities and processes found in living creatures can impart robots with unique abilities. Bioinspired techniques used by insects and other organisms, notably optic flow and sunlight polarisation sensing, allow robots to navigate without the need for methods such as simultaneous localisation and mapping, GPS or inertial measurement units. Bioinspired locomotion techniques have yielded robots capable of operating in water, air and on land and in some cases, making the transition between different media.

This shows how bioinspired design concepts can impart robots with innovative and enhanced navigation and locomotion capabilities.

This paper presents a survey of research into interactive robotic systems for the purpose of identifying the state of the art capabilities as well as the extant gaps in this emerging field. Communication is multimodal. Multimodality is a representation of many modes chosen from rhetorical aspects for its communication potentials. The author seeks to define the available automation capabilities in communication using multimodalities that will support a proposed Interactive Robot System (IRS) as an AI mounted robotic platform to advance the speed and quality of military operational and tactical decision making.

This review will begin by presenting key developments in the robotic interaction field with the objective of identifying essential technological developments that set conditions for robotic platforms to function autonomously. After surveying the key aspects in Human Robot Interaction (HRI), Unmanned Autonomous System (UAS), visualization, Virtual Environment (VE) and prediction, the paper then proceeds to describe the gaps in the application areas that will require extension and integration to enable the prototyping of the IRS. A brief examination of other work in HRI-related fields concludes with a recapitulation of the IRS challenge that will set conditions for future success.

Using insights from a balanced cross section of sources from the government, academic, and commercial entities that contribute to HRI a multimodal IRS in military communication is introduced. Multimodal IRS (MIRS) in military communication has yet to be deployed.

Multimodal robotic interface for the MIRS is an interdisciplinary endeavour. This is not realistic that one can comprehend all expert and related knowledge and skills to design and develop such multimodal interactive robotic interface. In this brief preliminary survey, the author has discussed extant AI, robotics, NLP, CV, VDM, and VE applications that is directly related to multimodal interaction. Each mode of this multimodal communication is an active research area. Multimodal human/military robot communication is the ultimate goal of this research.

A multimodal autonomous robot in military communication using speech, images, gestures, VST and VE has yet to be deployed. Autonomous multimodal communication is expected to open wider possibilities for all armed forces. Given the density of the land domain, the army is in a position to exploit the opportunities for human–machine teaming (HMT) exposure. Naval and air forces will adopt platform specific suites for specially selected operators to integrate with and leverage this emerging technology. The possession of a flexible communications means that readily adapts to virtual training will enhance planning and mission rehearsals tremendously.

Interaction, perception, cognition and visualization based multimodal communication system is yet missing. Options to communicate, express and convey information in HMT setting with multiple options, suggestions and recommendations will certainly enhance military communication, strength, engagement, security, cognition, perception as well as the ability to act confidently for a successful mission.

The objective is to develop a multimodal autonomous interactive robot for military communications. This survey reports the state of the art, what exists and what is missing, what can be done and possibilities of extension that support the military in maintaining effective communication using multimodalities. There are some separate ongoing progresses, such as in machine-enabled speech, image recognition, tracking, visualizations for situational awareness, and virtual environments. At this time, there is no integrated approach for multimodal human robot interaction that proposes a flexible and agile communication. The report briefly introduces the research proposal about multimodal interactive robot in military communication.

To describe a robot designed and built to operate in outdoor environments hostile to the human presence, such as debris resulting from the collapse of built structures, and targeted to the tele‐operated detection of potential survivors using a set of specific sensors whose information is transmitted to a remote human operator.

RAPOSA's mechanical structure is composed of a main body and a front body, whose locomotion is supported on tracked wheels, allowing motion even when the robot is upside down. The front body has variable tilting capabilities, providing means to overcome edges higher than the robot main body (e.g. when climbing a stair) and is also useful to grab the lower ground when only the main body has ground contact. This front body has one thermal camera and two webcameras installed. Additional sensors include gas, temperature and humidity sensors, web cams, light diodes, microphone and loudspeaker. The robot uses wireless communications, with an option for tethered operation.

The robot was tested in several scenarios of the Fire Fighters school. In this particular exercise, the robot reduced the inspection time down to 25 percent of the time that specialized firefighters teams would take to finish the exercise. This was due to the fact that the firefighters need to stabilize the environment in order to reduce live threats. In this case, as in many other similar situations, not only the robot provides a faster inspection method, but also a much safer one.

The tether carries both power and communications, with an access point on its end. Docking and undocking the robot to the tether is accomplished remotely by the operator with the help of a camera located inside the robot, and represents the most innovative feature of RAPOSA.