The Experts below are selected from a list of 246 Experts worldwide ranked by ideXlab platform
Franz S. Hover - One of the best experts on this subject based on the ideXlab platform.
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Underwater Inspection using sonar-based volumetric submaps
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Pedro V. Teixeira, Michael Kaess, Franz S. HoverAbstract:We propose a submap-based technique for mapping of Underwater structures with complex geometries. Our approach relies on the use of probabilistic volumetric techniques to create submaps from multibeam sonar scans, as these offer increased outlier robustness. Special attention is paid to the problem of denoising/enhancing sonar data. Pairwise submap alignment constraints are used in a factor graph framework to correct for navigation drift and improve map accuracy. We provide experimental results obtained from the Inspection of the running gear and bulbous bow of a 600-foot, Wright-class supply ship.
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three dimensional coverage planning for an Underwater Inspection robot
The International Journal of Robotics Research, 2013Co-Authors: Brendan Englot, Franz S. HoverAbstract:To support autonomous, in-water Inspection of a ship hull, we propose and implement new techniques for coverage path planning over complex 3D structures. Our main contribution is a comprehensive methodology for sampling-based design of Inspection routes, including an algorithm for planning, an algorithm for smoothing, and an analysis of probabilistic completeness. The latter two outcomes are the first of their kind in the area of coverage planning. Our algorithms give high-quality solutions over expansive structures, and we demonstrate this with experiments in the laboratory and on a 75 m Coast Guard cutter.
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uncertainty driven view planning for Underwater Inspection
International Conference on Robotics and Automation, 2012Co-Authors: Geoffrey A. Hollinger, Franz S. Hover, Urbashi Mitra, Brendan Englot, Gaurav S. SukhatmeAbstract:We discuss the problem of inspecting an Underwater structure, such as a submerged ship hull, with an autonomous Underwater vehicle (AUV). In such scenarios, the goal is to construct an accurate 3D model of the structure and to detect any anomalies (e.g., foreign objects or deformations). We propose a method for constructing 3D meshes from sonar-derived point clouds that provides watertight surfaces, and we introduce uncertainty modeling through non-parametric Bayesian regression. Uncertainty modeling provides novel cost functions for planning the path of the AUV to minimize a metric of Inspection performance. We draw connections between the resulting cost functions and submodular optimization, which provides insight into the formal properties of active perception problems. In addition, we present experimental trials that utilize profiling sonar data from ship hull Inspection.
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In-Water Ship Hull Inspection with Smart Underwater Robots
2011Co-Authors: Franz S. HoverAbstract:Abstract : Briefing discusses challanges and strategies to robotic Underwater Inspection of ship hulls and related off shore tasks using robotic tools.
Larry Guthrie - One of the best experts on this subject based on the ideXlab platform.
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Underwater Bridge Deterioration and the Impact of Bridge Inspection in Mississippi
Transportation Research Record, 1997Co-Authors: R. Richard Avent, Mohamed Alawady, Larry GuthrieAbstract:During 1988 and 1989 the state of Mississippi conducted the first statewide Underwater Inspection program following the issue of FHWA guidelines for regular Underwater bridge Inspections. During 1994 and 1995, a second state-wide Underwater bridge Inspection program was conducted. The results of these two Inspections are compared and the impact of the Underwater Inspection program is assessed.
Toshinari Tanaka - One of the best experts on this subject based on the ideXlab platform.
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autonomous towed vehicle for Underwater Inspection in a port area
International Conference on Robotics and Automation, 2005Co-Authors: Jinkyu Choi, Hiroshi Sakai, Toshinari TanakaAbstract:This paper discusses an autonomous towed vehicle for Underwater Inspection in a port area, in which a sea current is so fast and complex. The autonomous towed vehicle has three different navigation modes; towed mode, autonomous mode and kite mode, to assure safe and reliable Inspection in such a port area. An autonomous Underwater vehicle (AUV) is employed as a towed vehicle to increase autonomy. In towed systems, it is important to monitor a towed force for preventing cable breaks and making use of it more efficiently since a towing cable plays an important role in transmitting electric signals and towing forces. In this paper, we propose a sequence for towed force estimation consisting of different navigation modes and control methods for it. In addition, the navigation control system of the autonomous towed vehicle is briefly described. Simulations to verify the towed force estimation and control methods are carried out and the results are discussed.
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ICRA - Autonomous Towed Vehicle for Underwater Inspection in a Port Area
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 1Co-Authors: Jinkyu Choi, Hiroshi Sakai, Toshinari TanakaAbstract:This paper discusses an autonomous towed vehicle for Underwater Inspection in a port area, in which a sea current is so fast and complex. The autonomous towed vehicle has three different navigation modes; towed mode, autonomous mode and kite mode, to assure safe and reliable Inspection in such a port area. An autonomous Underwater vehicle (AUV) is employed as a towed vehicle to increase autonomy. In towed systems, it is important to monitor a towed force for preventing cable breaks and making use of it more efficiently since a towing cable plays an important role in transmitting electric signals and towing forces. In this paper, we propose a sequence for towed force estimation consisting of different navigation modes and control methods for it. In addition, the navigation control system of the autonomous towed vehicle is briefly described. Simulations to verify the towed force estimation and control methods are carried out and the results are discussed.
Gaurav S. Sukhatme - One of the best experts on this subject based on the ideXlab platform.
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Active classification: Theory and application to Underwater Inspection
Springer Tracts in Advanced Robotics, 2017Co-Authors: Geoffrey A. Hollinger, Urbashi Mitra, Gaurav S. SukhatmeAbstract:We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to Underwater Inspection: 3D polyhedra recognition in synthetic depth maps and ship hull Inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods.
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ISRR - Active Classification: Theory and Application to Underwater Inspection
Springer Tracts in Advanced Robotics, 2016Co-Authors: Geoffrey A. Hollinger, Urbashi Mitra, Gaurav S. SukhatmeAbstract:We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to Underwater Inspection: 3D polyhedra recognition in synthetic depth maps and ship hull Inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80 % when compared to passive methods.
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uncertainty driven view planning for Underwater Inspection
International Conference on Robotics and Automation, 2012Co-Authors: Geoffrey A. Hollinger, Franz S. Hover, Urbashi Mitra, Brendan Englot, Gaurav S. SukhatmeAbstract:We discuss the problem of inspecting an Underwater structure, such as a submerged ship hull, with an autonomous Underwater vehicle (AUV). In such scenarios, the goal is to construct an accurate 3D model of the structure and to detect any anomalies (e.g., foreign objects or deformations). We propose a method for constructing 3D meshes from sonar-derived point clouds that provides watertight surfaces, and we introduce uncertainty modeling through non-parametric Bayesian regression. Uncertainty modeling provides novel cost functions for planning the path of the AUV to minimize a metric of Inspection performance. We draw connections between the resulting cost functions and submodular optimization, which provides insight into the formal properties of active perception problems. In addition, we present experimental trials that utilize profiling sonar data from ship hull Inspection.
R. Richard Avent - One of the best experts on this subject based on the ideXlab platform.
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Underwater Bridge Deterioration and the Impact of Bridge Inspection in Mississippi
Transportation Research Record, 1997Co-Authors: R. Richard Avent, Mohamed Alawady, Larry GuthrieAbstract:During 1988 and 1989 the state of Mississippi conducted the first statewide Underwater Inspection program following the issue of FHWA guidelines for regular Underwater bridge Inspections. During 1994 and 1995, a second state-wide Underwater bridge Inspection program was conducted. The results of these two Inspections are compared and the impact of the Underwater Inspection program is assessed.
