海上网箱网衣检测用框架式AUV设计与试验

大型网箱(围网)养殖是我国对深远海水体资源利用的重要途径,网衣破损检测是网箱养殖可以正常运行的基础条件,利用低成本高可靠性的框架式AUV进行网衣破损检测是可行的技术方案之一。基于技术、成本和使用便利性等要求,提出了框架式AUV螺旋式网衣破损检测策略,对其进行了运动建模和动力计算,获得了控制方法及与海流等相关的工作条件。根据模型分析进行了框架式AUV系统参数设计,开发了3自由度AUV控制系统软硬件、水下视频监控装置及工作距离1.5 km的微波通讯系统。所研发系统在象山港海域大型网箱进行了现场试验,结果表明在流速小于0.8 m/s时,能够在大潮和小潮分别获得最远0.9 m和1.5m的清晰视觉图像,可以方便地判断网衣破损情况,满足实际要求,为大规模推广应用打下了良好基础。     

Polar Map: A Digital Representation of Closed Structures for Underwater Robotic Inspection

This article presents a novel 2.5D map representation, termed polar map, that has a memory consumption of O(ML), where M and L depend on the map's angular and depth resolution, respectively. The map has a computational effort of O(1) in the update and evaluation process, where updates are performed through the use of Kalman filters. The representation can only be applied to structures in an environment that can be represented uniquely in a cylindrical coordinate system, such as fish cages, and square and cylindrical tanks. The work presents two case studies that compare the proposed polar map with the octomap. The first case shows a simulated example when mapping a fish cage. The second, an experiment in a square tank, where an unmanned underwater vehicle performs simultaneous localization and mapping (SLAM) using both the polar map and octomap representation. The results show that the polar map performs better, both in terms of memory consumption and computation effort, in both mapping and SLAM in the selected case studies.     

Spatial properties of sessile benthic organisms and the design of repeat visual survey transects

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