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Underwater robots play a significant role in ocean exploration.
This book provides full coverage of the theoretical and practical
aspects of bionic gliding underwater robots, including system
design, modeling control, and motion planning. To overcome the
inherent shortcomings of traditional underwater robots that can
simultaneously lack maneuverability and endurance, a new type of
robot, the bionic gliding underwater robot, has attracted much
attention from scientists and engineers. On the one hand, by
imitating the appearance and swimming mechanisms of natural
creatures, bionic gliding underwater robots achieve high
maneuverability, swimming efficiency, and strong concealment. On
the other hand, borrowing from the buoyancy adjustment systems of
underwater gliders, bionic gliding underwater robots can obtain
strong endurance, which is significant in practical applications.
Taking gliding robotic dolphin and fish as examples, the designed
prototypes and proposed methods are discussed, offering valuable
insights into the development of next-generation underwater robots
that are well suited for various oceanic applications. This book
will be of great interest to students and professionals alike in
the field of robotics or intelligent control. It will also be a
great reference for engineers or technicians who deal with the
development of underwater robots.
Visual Perception and Control of Underwater Robots covers theories
and applications from aquatic visual perception and underwater
robotics. Within the framework of visual perception for underwater
operations, image restoration, binocular measurement, and object
detection are addressed. More specifically, the book includes
adversarial critic learning for visual restoration, NSGA-II-based
calibration for binocular measurement, prior knowledge refinement
for object detection, analysis of temporal detection performance,
as well as the effect of the aquatic data domain on object
detection. With the aid of visual perception technologies, two
up-to-date underwater robot systems are demonstrated. The first
system focuses on underwater robotic operation for the task of
object collection in the sea. The second is an untethered
biomimetic robotic fish with a camera stabilizer, its control
methods based on visual tracking. The authors provide a
self-contained and comprehensive guide to understand underwater
visual perception and control. Bridging the gap between theory and
practice in underwater vision, the book features implementable
algorithms, numerical examples, and tests, where codes are publicly
available. Additionally, the mainstream technologies covered in the
book include deep learning, adversarial learning, evolutionary
computation, robust control, and underwater bionics. Researchers,
senior undergraduate and graduate students, and engineers dealing
with underwater visual perception and control will benefit from
this work.
Visual Perception and Control of Underwater Robots covers theories
and applications from aquatic visual perception and underwater
robotics. Within the framework of visual perception for underwater
operations, image restoration, binocular measurement, and object
detection are addressed. More specifically, the book includes
adversarial critic learning for visual restoration, NSGA-II-based
calibration for binocular measurement, prior knowledge refinement
for object detection, analysis of temporal detection performance,
as well as the effect of the aquatic data domain on object
detection. With the aid of visual perception technologies, two
up-to-date underwater robot systems are demonstrated. The first
system focuses on underwater robotic operation for the task of
object collection in the sea. The second is an untethered
biomimetic robotic fish with a camera stabilizer, its control
methods based on visual tracking. The authors provide a
self-contained and comprehensive guide to understand underwater
visual perception and control. Bridging the gap between theory and
practice in underwater vision, the book features implementable
algorithms, numerical examples, and tests, where codes are publicly
available. Additionally, the mainstream technologies covered in the
book include deep learning, adversarial learning, evolutionary
computation, robust control, and underwater bionics. Researchers,
senior undergraduate and graduate students, and engineers dealing
with underwater visual perception and control will benefit from
this work.
Underwater robots play a significant role in ocean exploration.
This book provides full coverage of the theoretical and practical
aspects of bionic gliding underwater robots, including system
design, modeling control, and motion planning. To overcome the
inherent shortcomings of traditional underwater robots that can
simultaneously lack maneuverability and endurance, a new type of
robot, the bionic gliding underwater robot, has attracted much
attention from scientists and engineers. On the one hand, by
imitating the appearance and swimming mechanisms of natural
creatures, bionic gliding underwater robots achieve high
maneuverability, swimming efficiency, and strong concealment. On
the other hand, borrowing from the buoyancy adjustment systems of
underwater gliders, bionic gliding underwater robots can obtain
strong endurance, which is significant in practical applications.
Taking gliding robotic dolphin and fish as examples, the designed
prototypes and proposed methods are discussed, offering valuable
insights into the development of next-generation underwater robots
that are well suited for various oceanic applications. This book
will be of great interest to students and professionals alike in
the field of robotics or intelligent control. It will also be a
great reference for engineers or technicians who deal with the
development of underwater robots.
This book reports on the latest advances in the study of motion
control in biomimetic swimming robots with high speed and high
manoeuvrability. It presents state-of-the-art studies on various
swimming robots including robotic fish, dolphins and jellyfish in a
unified framework, and discusses the potential benefits of applying
biomimetic underwater propulsion to autonomous underwater vehicle
design, such as: speed, energy economy, enhanced manoeuvrability,
and reduced detectability. Given its scope, the book will be of
interest to researchers, engineers and graduate students in
robotics and ocean engineering who wish to learn about the core
principles, methods, algorithms, and applications of biomimetic
underwater robots.
This book reports on the latest advances in the study of motion
control in biomimetic swimming robots with high speed and high
manoeuvrability. It presents state-of-the-art studies on various
swimming robots including robotic fish, dolphins and jellyfish in a
unified framework, and discusses the potential benefits of applying
biomimetic underwater propulsion to autonomous underwater vehicle
design, such as: speed, energy economy, enhanced manoeuvrability,
and reduced detectability. Given its scope, the book will be of
interest to researchers, engineers and graduate students in
robotics and ocean engineering who wish to learn about the core
principles, methods, algorithms, and applications of biomimetic
underwater robots.
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