Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Underwater slam for estructured environments using and imaging sonar

Aquesta tesi tracta sobre el problema de la navegació per a vehicles submarins autònoms que operen en entorns artificials estructurats com ara ports, canals, plataformes marines i altres escenaris similars. A partir d'una estimació precisa de la posició en aquests entorns, les capacitats dels vehicles submarins s'incrementen notablement i s'obre una porta al seu funcionament autònom. El manteniment, inspecció i vigilància d'instal lacions marines són alguns exemples de possibles aplicacions. Les principals contribucions d'aquesta tesi consisteixen per una banda en el desenvolupament de diferents sistemes de localització per a aquelles situacions on es disposa d'un mapa previ de l'entorn i per l'altra en el desenvolupament d'una nova solució al problema de la Localització i Construcció Simultània de Mapes (SLAM en les seves sigles en anglès), la finalitat del qual és fer que un vehicle autònom creï un mapa de l'entorn desconegut que el rodeja i, al mateix temps, utilitzi aquest mapa per a determinar la seva pròpia posició. S'ha escollit un sonar d'imatges d'escaneig mecànic com a sensor principal per a aquest treball tant pel seu relatiu baix cost com per la seva capacitat per produir una representació detallada de l'entorn. Per altra banda, les particularitats de la seva operació i, especialment, la baixa freqúència a la que es produeixen les mesures, constitueixen els principals inconvenients que s'han hagut d'abordar en les estratègies de localització proposades. Les solucions adoptades per aquests problemes constitueixen una altra contribució d'aquesta tesi. El desenvolupament de vehicles autònoms i el seu ús com a plataformes experimentals és un altre aspecte important d'aquest treball. Experiments portats a terme tant en el laboratori com en escenaris reals d'aplicació han proporcionat les dades necessàries per a provar i avaluar els diferents sistemes de localització proposats.

Sonar de varredura lateral e sísmica de alta resolução aplicados no estudo de ecofácies na baía de Vitória-ES

Levantamentos geofísicos de alta resolução e amostragem de sedimentos de fundo foram realizados na Baía de Vitória tendo como objetivo mapear o fundo marinho acusticamente. A análise integrada de registros de sonar de varredura lateral e sísmica rasa permitiu o reconhecimento de 4 ecofácies distintas. A ecofácies Tipo 1 está associada a fundos sem penetração do sinal acústico e com sonogramas de alta intensidade de retorno do sinal e dunas subaquosas, onde areias são predominantes. A ecofácies Tipo 2 ocorre comumente em fundos areno-lamosos que apresentam alta penetração do sinal acústico e baixa intensidade do sinal nos sonogramas. A ecofácies Tipo 3 é caracterizada por uma penetração transparente do sinal até encontrar um refletor de alta amplitude e sem penetração, sendo típica de fundos lamosos. A ecofácies Tipo 4 está diretamente associada a fundos rochosos. A análise da distribuição destas ecofácies permite a interpretação dos principais processos sedimentares que atuam ao longo da baía.

Sistema de navegació geogràfica de tipus Google Earth per a entorns dinàmics

L’objectiu principal és avaluar un sistema que hagués de mostrar les imatges captades per una càmera que està filmant un entorn canviant sobre l’aplicació Google Earth. Es tractaria d’estudiar com es podria aprofitar aquesta aplicació i analitzar el rendiment que obtenim utilitzant-la per a navegar per un entorn dinàmic. S’hauria d’avaluar si és possible arribar a visualitzar l’entorn a una freqüència de 25 frames per segon.

Esplendor a la Turtusa Islàmica : Comerç i navegació a la taifa de Turtusa del segle XII

Esplendor econòmica i cultural de Tortosa en el segle XII, comerç amb els cristians, navegació marítima i sobretot fluvial per l'Ebre i, finalment, paper de la comunitat jueva de la ciutat en totes aquestes facetes.

Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

Integració d'un sensor sonar d'escombrat lateral en un robot submarí

El grup de Visió per Computador i Robòtica (VICOROB) disposa de varis robotssubmarins per a la recerca i inspecció subaquàtica. Recentment s’ha adquiritun sensor sonar d’escombrat lateral el qual s’utilitza per realitzar imatgesacústiques del fons marí quan aquest es mou principalment a velocitat constanti mantenint el rumb.Els robots del grup VICOROB estan equipats amb diferents tipus de sensors icàmeres per analitzar el fons marí. Aquest sensors són de gran qualitat ipermeten conèixer de manera bastant satisfactòria l’entorn a les proximitats delrobot. Freqüentment però, aquest sensors estant sotmesos a diferentsrestriccions depenent de la seva naturalesa de funcionament, de tal maneraque es necessària la seva combinació per resoldre determinats problemes endiferents situacions.Amb aquest projecte, es pretén integrar un nou sistema de captura d’imatgessonores del fons marí, en un dels robots. Amb la integració d’aquest nousensor, s’espera obtenir una opció alternativa els sistemes actuals que puguiaportar informació addicional sobre el fons. Aquest sistema podrà ser utilitzatper realitzar tasques per les quals els altres sensors no estant preparats o béper complementar informació d’altres sensor

SLAM using an Imaging Sonar for Partially Structured Underwater Environments

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach

Disseny i implementació d'un sistema de navegació inercial i la seva aplicació a la robòtica mòbil

La UdG desposa de diversos robots mòbils per a finalitats docents i de recerca que utilitzen sistemes de localització incremental mitjançant bàsicament encoders incrementals. Actualment, en el mercat de l’automoció s’ha desenvolupat una sèrie de dispositius electrònics tals com brúixoles electròniques, acceleròmetres, giroscòpics, etc. L’objectiu és dissenyar i construir un sistema de navegació inercial format per un acceleròmetre, un giroscòpic, una brúixola i un microcontrolador encarregat de governar les ordres. El llenguatge utilitzat serà l’assemblador, ja que es pretén una execució molt eficient de les rutines creades. Les dades obtingudes es transmetran a l’ordinador per mitjà del protocol RS-232 i un programa en C emmagatzemarà les dades en un document de text. Aquestes dades seran tractades amb l’entorn MATLAB per tal d’interpretar-les i representar-les gràficament. Per analitzar el funcionament del sistema s’utilitzarà la plataforma PRIM

MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar

This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results

Side scan sonar image and geologic interpretation of the Ria de Pontevedra seafloor (Galicia, NW Spain).

High-resolution side scan sonar has been used for mapping the seafloor of the Ría de Pontevedra. Four backscatter patterns have been mapped within the Ría: (1) Pattern with isolated reflections, correlated with granite and metamorphic outcrops and located close to the coastal prominence and Ons and Onza Islands. (2) Pattern of strong reflectivity usually located around the basement outcrops and near the coastline and produced by coarse-grained sediment. (3) Pattern of weak backscatter is correlated with fine sand to mud and comprising large areas in the central and deep part of the Ría, where the bottom currents are weak. It is generally featureless, except where pockmarks and anthropogenic features are present. (4) Patches of strong and weak backscatter are located in the boundary between coarse and fine-grained sediments and they are due to the effect of strong bottom currents. The presence of megaripples associated to both patterns of strong reflectivity and sedimentary patches indicate bedload transport of sediment during high energy conditions (storms). Side scan sonar records and supplementary bathymetry, bottom samples and hydrodynamic data reveal that the distribution of seafloor sediment is strongly related to oceanographic processes and the particular morphology and topography of the Ría.

Recommendations for the use of ultrasound in rheumatoid arthritis: literature review and SONAR score experience.

Ultrasound (US) has become a useful tool in the detection of early disease, differential diagnosis, guidance of treatment decisions and treatment monitoring of rheumatoid arthritis (RA). In 2008, the Swiss Sonography in Arthritis and Rheumatism (SONAR) group was established to promote the use of US in inflammatory arthritis in clinical practice. A scoring system was developed and taught to a large number of Swiss rheumatologists who already contributed to the Swiss Clinical Quality Management (SCQM) database, a national patient register. This paper intends to give a Swiss consensus about best clinical practice recommendations for the use of US in RA on the basis of the current literature knowledge and experience with the Swiss SONAR score. Literature research was performed to collect data on current evidence. The results were discussed among specialists of the Swiss university centres and private practice, following a structured procedure. Musculoskelatal US was found to be very helpful in establishing the diagnosis and monitoring the evolution of RA, and to be a reliable tool if used by experienced examiners. It influences treatment decisions such as continuing, intensifying or stepping down therapy. The definite modalities of integrating US into the diagnosis and monitoring of RA treatments will be defined within a few years. There are, however, strong arguments to use US findings as of today in daily clinical care. Some practical recommendations about the use of US in RA, focusing on the diagnosis and the use of the SONAR score, are proposed.