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View article: Autonomous Forklifts: State of the Art—Exploring Perception, Scanning Technologies and Functional Systems—A Comprehensive Review
Autonomous Forklifts: State of the Art—Exploring Perception, Scanning Technologies and Functional Systems—A Comprehensive Review Open
This paper presents a comprehensive overview of cutting-edge autonomous forklifts, with a strong emphasis on sensors, object detection and system functionality. It aims to explore how this technology is evolving and where it is likely head…
View article: Cooperative Robotic Path Planning for Comprehensive Bridge Inspection with LiDAR Technology: Navigating Unknown Structures
Cooperative Robotic Path Planning for Comprehensive Bridge Inspection with LiDAR Technology: Navigating Unknown Structures Open
This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface…
View article: Novel Robotic Systems in at Sea Inspection and Repair of Damaged Ship Hulls With Friction Stir Welding
Novel Robotic Systems in at Sea Inspection and Repair of Damaged Ship Hulls With Friction Stir Welding Open
This paper presents a start to finish approach on the inspection and repair of damaged ship hulls in water. The repair of ship hulls in water has been made viable by recent developments in Friction Stir Welding (FSW) of steels. The project…
View article: A Practical Comparison of GEO and LEO Satellite Communication Systems for Remote Presence Control of an ROV
A Practical Comparison of GEO and LEO Satellite Communication Systems for Remote Presence Control of an ROV Open
This paper describes an ROV remote presence control exercise conducted over both Geostationary Orbit (GEO) and Low Earth Orbit (LEO) Satellite Communications links. Its purpose was to investigate and compare the reliability, latency and av…
View article: TRIDENT – Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation: A project overview
TRIDENT – Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation: A project overview Open
By creating a dependable, transparent, and costeffective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to the sustainable exploita…
View article: Independent Tether Management Nodes for Subsea Vehicles in Complex Fields
Independent Tether Management Nodes for Subsea Vehicles in Complex Fields Open
This paper presents a Tether Multipoint Management System (TMMS) for a Resident Remotely Operated Vehicle (ROV) in offshore operations. Operating close to structure or seabed. Boulders etc tether management is critical to ensure the safety…
View article: Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics Open
The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity to perform underwater tasks autonomously. However, controlling both the manipulator and the remotely oper…
View article: Robotic Ship Hull Inspection For Damage Repair
Robotic Ship Hull Inspection For Damage Repair Open
In this paper, we investigate the methods to be used in the inspection of damaged ship hulls in water at sea, as part of the European Union (EU) Robotic Survey, Repair and Agile Manufacture (RESURGAM) Project. Employing underwater robotics…
View article: Inverse kinematics of a subsea constrained manipulator based on FABRIK-R
Inverse kinematics of a subsea constrained manipulator based on FABRIK-R Open
Although underwater manipulators are considered the most suitable tools for executing many subsea intervention operations, they are an example of robots not designed for autonomous tasks. The subsea manipulator Schilling Titan 2, for insta…
View article: A More Malicious Maitre d'
A More Malicious Maitre d' Open
In this paper we study the problem of the Malicious Maitre d', as described in Peter Winkler's book Mathematical Puzzles: A Connoisseur's Collection. This problem, attributed to computer scientist Rob Pike, involves seating diners around a…
View article: A survey of state-of-the-art on visual SLAM
A survey of state-of-the-art on visual SLAM Open
This paper is an overview to Visual Simultaneous Localization and Mapping (V-SLAM). We discuss the basic definitions in the SLAM and vision system fields and provide a review of the state-of-the-art methods utilized for mobile robot’s visi…
View article: A Simulated and Experimental Analysis of Evaporation Duct Effects on Microwave Communications in the Irish Sea
A Simulated and Experimental Analysis of Evaporation Duct Effects on Microwave Communications in the Irish Sea Open
This article presents a simulated and experimental analysis of the effects of the evaporation duct on microwave propagation in the Irish Sea. The evaporation duct is a phenomenon that occurs almost permanently over all the world’s oceans a…
View article: A Study on Directly Interconnected Offshore Wind Systems during Wind Gust Conditions
A Study on Directly Interconnected Offshore Wind Systems during Wind Gust Conditions Open
An investigation of the effects of wind gusts on the directly interconnected wind generators is reported, and techniques toward the mitigation of the wind gust negative influences have been proposed. Using a directly interconnected system …
View article: Vector Fuzzy c-Spherical Shells (VFCSS) over Non-Crisp Numbers for Satellite Imaging
Vector Fuzzy c-Spherical Shells (VFCSS) over Non-Crisp Numbers for Satellite Imaging Open
The conventional fuzzy c-spherical shells (FCSS) clustering model is extended to cluster shells involving non-crisp numbers, in this paper. This is achieved by a vectorized representation of distance, between two non-crisp numbers like the…
View article: Ghost-UNet: An Asymmetric Encoder-Decoder Architecture for Semantic Segmentation From Scratch
Ghost-UNet: An Asymmetric Encoder-Decoder Architecture for Semantic Segmentation From Scratch Open
One of the most important key points in the intelligent transportation systems is scene understanding of the known and unknown surrounding environment to achieve a safe driving for smart mobile robots and cars. Semantic segmentation can ad…
View article: Integration of an MES and AIV Using a LabVIEW Middleware Scheduler Suitable for Use in Industry 4.0 Applications
Integration of an MES and AIV Using a LabVIEW Middleware Scheduler Suitable for Use in Industry 4.0 Applications Open
Industry 4.0 uses the analysis of real-time data, artificial intelligence, automation, and the interconnection of components of the production lines to improve manufacturing efficiency and quality. Manufacturing Execution Systems (MESs) an…
View article: Experimental rig investigation of a direct interconnection technique for airborne wind energy systems
Experimental rig investigation of a direct interconnection technique for airborne wind energy systems Open
Airborne wind energy is a new approach to reach the stronger and more consistent winds at higher altitudes. In this paper, the interconnection of pumping mode airborne wind energy systems inside an energy farm is investigated. An experimen…
View article: Underwater Image Enhancement and Mosaicking System Based on A-KAZE Feature Matching
Underwater Image Enhancement and Mosaicking System Based on A-KAZE Feature Matching Open
Feature extraction and matching is a key component in image stitching and a critical step in advancing image reconstructions, machine vision and robotic perception algorithms. This paper presents a fast and robust underwater image mosaicki…
View article: Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution
Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution Open
The overall control system for an open-frame Remotely Operated Vehicle (ROV) is typically built from three subsystems: guidance, navigation and control (GNC). The control allocation plays a vital role in the control subsystem. Typically, o…
View article: Neuro-Fuzzy Dynamic Position Prediction for Autonomous Work-Class ROV Docking
Neuro-Fuzzy Dynamic Position Prediction for Autonomous Work-Class ROV Docking Open
This paper presents a docking station heave motion prediction method for dynamic remotely operated vehicle (ROV) docking, based on the Adaptive Neuro-Fuzzy Inference System (ANFIS). Due to the limited power onboard the subsea vehicle, high…
View article: Vision-Based Localization System Suited to Resident Underwater Vehicles
Vision-Based Localization System Suited to Resident Underwater Vehicles Open
In recent years, we have seen significant interest in the use of permanently deployed resident robotic vehicles for commercial inspection, maintenance and repair (IMR) activities. This paper presents a concept and demonstration, through of…
View article: An Experimental Study of the Effects of the Evaporation Duct on Microwave Propagation
An Experimental Study of the Effects of the Evaporation Duct on Microwave Propagation Open
This paper presents the results of a study on the effects of the evaporation duct on microwave propagation in the Irish Sea. The evaporation duct is a phenomenon that occurs almost permanently over the earth’s oceans and can be exploited t…
View article: Real-Time Secure/Unsecure Video Latency Measurement/Analysis with FPGA-Based Bump-in-the-Wire Security
Real-Time Secure/Unsecure Video Latency Measurement/Analysis with FPGA-Based Bump-in-the-Wire Security Open
With the growth of the internet of things (IoT), many challenges like information security and privacy, interoperability/standard, and regulatory and legal issues are arising. This work focused on the information security issue, which is o…
View article: Interdisciplinary Methodology to Extend Technology Readiness Levels in SONAR Simulation from Laboratory Validation to Hydrography Demonstrator
Interdisciplinary Methodology to Extend Technology Readiness Levels in SONAR Simulation from Laboratory Validation to Hydrography Demonstrator Open
This paper extends underwater SONAR simulation from laboratory prototype to real-world demonstrator. It presents the interdisciplinary methodology to advance the state of the art from level four to level seven on the technology readiness l…
View article: Review of Liquid-Filled Optical Fibre-Based Temperature Sensing
Review of Liquid-Filled Optical Fibre-Based Temperature Sensing Open
While ever higher resolution temperature sensing is of demand in research and industry, the cost of sensors in the sub-milli-Kelvin (mK) range can be restrictive. Furthermore, as the majority of commercial temperature sensor measurements a…
View article: Remote acoustic analysis for tool condition monitoring
Remote acoustic analysis for tool condition monitoring Open
Within the manufacturing industry, predictive maintenance is a well-established concept, dating back to the 1990's [1]. Practice has shown it to have a proven track record of minimising unnecessary machine downtime. The methods of predicti…