Uninhabited Underwater Vehicles Research Articles

Method of Forming and Algorithm of Saving a Photo Map of the Seafloor during its Photography by an Unmanned Underwater Vehicle

The paper proposes a new method and algorithm for creating a photo map of the seabed from photographs obtained from on-board photo and video systems of autonomous uninhabited underwater vehicles during fulfillment of their various missions. This photo map is formed from photographs of the seabed by sequentially overlapping them. At the same time, data on the position of the underwater vehicle received from the on-board navigation system at the time of receipt of each photograph is used to position each photo image on the generated photo map. And to rotate and scale these photographic images, data on the orientation of the underwater vehicle in the global coordinate system and its height above the bottom, also obtained from the on-board navigation system, are used. To provide quick access to the photo map, it is proposed to store it on an on-board data storage device in the form of a tile map, widely used when creating interactive geographical maps, for example, Google Maps. However, the formation of a tile map is usually carried out on the basis of all the already received photographic images, as is done with satellite images, which cannot be applied on board underwater vehicles when data from the photo-video system is received sequentially. Therefore, a special algorithm has been developed and implemented that generates a tile map during the movement of the underwater vehicle and updates only the area of the tile map in which the photo is currently being taken. This minimizes the computational load and ensures the formation of a photo map of the bottom using standard on-board computing devices. The conducted semi-natural experiments with data obtained as a result of performing real missions using the MMT-3000 underwater vehicle confirmed the high efficiency of using the developed method and algorithm.

Метод автоматической стыковки необитаемых подводных аппаратов с подводными платформами с использованием бортовых многозвенных манипуляторов

The article proposes a new method for automatic docking of uninhabited underwater vehicles (UUV) equipped with multi-link manipulators (MM) with underwater docking platforms (DP), which can have an arbitrary spatial orientation. This method involves attaching MM grip-tool to a simple mount (rod or beam) that is part of DP, followed by docking the UUV by sequential changing the configuration of the MM. At the same time, taking into account the current relative position of DP and UUV, the desired MM grip-tool movement trajectory with its variable orientation is automatically formed in such way that UUV body perform the necessary movements in the direction of DP. The forces and moments that can lead to the docking operation failure will unavoidably arise at MM grip-tool on performing the docking trajectory. Therefore, it is proposed to compensate these negative dynamic effects, calculated in real time, utilizing UUV thrusters. The results of numerical simulation in Matlab/Simulink have shown the efficiency and effectiveness of the proposed method.

Исследование характеристик стационарных режимов движения подводной привязной системы «ТНПА – кабель – судно»

The efficiency of using uninhabited underwater vehicles of the tethered type is associated with the need for its propulsion and steering complex (PSC) to compensate for the reaction of the communication cable of the device with the support vessel when maneuvering near the work site. The work examines the achievable boundaries of the maneuvering zone of a remotely controlled uninhabited underwater vehicle (ROV) for known values of the length of the communication cable, the submersion depth of the device, the current speed in the work area and the traction characteristics of the PSC. Algorithms for determining the boundaries of the working area and the achievable speed of the apparatus are presented, based on calculating the tension at the ends of the communication cable in a stationary flow, using the equations of a catenary line and the numerical integration of the equations of an inextensible flexible thread. In order to increase the operational reliability of underwater technical work, recommendations have been developed for choosing a cable length that prevents it from sagging below the submersion depth of the apparatus with possible snagging and damage by bottom objects. During the model experiment, the boundaries of the maneuvering zone were assessed relative to the coordinates of the carrier for a promising ROV with known hydrodynamic resistance and traction characteristics of the PSC, as well as the dependence of the achievable speeds of the vehicle within the maneuvering zone on the immersion depth and the speed of the oncoming current.

Unmanned Underwater Vehicles in Crime Detection and Prevention

The relevance of the research is determined by the need to develop effective methods and strategies for the use of modern technologies to ensure the security of marine and underwater facilities in the face of the growing threat of underwater activity, terrorism, and violations of laws at sea. The research aims to analyse and document specific tactical and organisational approaches to the use of unmanned underwater vehicles aimed at increasing the effectiveness of actions related to the detection, investigation, and prevention of underwater crime. Classification, analytical, functional, statistical, and synthesis methods are among the methods used. The research results highlight the global experience of using drones in forensic practice and may serve as a basis for further improvement of legislation in this area. The application of uninhabited underwater vehicles by law enforcement and state bodies in the investigation of criminal offences is considered in the article, and the norms of criminal procedural legislation of the Republic of Kazakhstan regulating the use of technical means in criminal proceedings are analysed. The study reveals the lack of comprehensive research on the use of unmanned underwater vehicles as scientific and technical means for the investigation of certain types of criminal cases, such as drug-trafficking and poaching, and offers recommendations on their use to identify and search for evidence in the aquatic environment. This research has a practical value by providing new methodologies and strategies for organisations and law-enforcement agencies in the field of underwater security, contributing to more effective detection, investigation, and prevention of crime in the maritime and underwater domains.

Анализ работы современных водолазных судов, оснащенных системой динамического позиционирования (DP)

. The principle of operation of modern diving vessels equipped with dynamic positioning (DP) systems is analyzed. The classification of diving operations on such vessels is considered. To perform certain construction work or maintenance of underwater facilities, a diving team is needed – the most important component in an integral part of the most difficult work, where the ROV (remote-controlled uninhabited underwater vehicle) of the working class, equipped with tools for certain purposes, is not adapted for complex tasks. The topic of limiting the length of the hose cable (a technology that ensures the delivery of vital consumables, signals and energy via cable to the diver) for underwater work is touched upon. An assessment of the safe working distance of divers near the bow thrusters and propeller columns of the DP vessel is carried out using the example of the most modern vessel in the Caspian Sea to support diving operations, as well as for the installation of underwater structures of the deep-sea bases of the Khankendi. Conclusions are drawn about the widespread use of DP systems on modern ships, in particular those involved in the oil and gas industry, as well as other areas of the marine industry. A study has been conducted to assess the safety of diving operations of a DP vessel operating in shallow water. An assessment is given to limit the movement of the vessel during diving operations. The specifics of the universal vessel involved in connection with the risks of human life, the working environment of divers, various environmental conditions, the proximity of the vessel's propulsion systems and many other additional risks that pose a danger are indicated. The thesis on the need for careful planning and management of diving operations has been confirmed.

Станция подводного обслуживания гибридного необитаемого подводного аппарата системы мониторинга подводного добычного комплекса

The use of support vessels significantly increases the cost of monitoring objects of underwater production complexes (UPC), and the presence of a cable communication line significantly limits the possibility of using remote-controlled uninhabited underwater vehicles (ROV), which is reduced to zero in conditions of continuous ice coverage of the work area. An obvious alternative to the use of ROVs are autonomous uninhabited underwater vehicles (AUVs), equipped with equipment for conducting contact work with monitoring objects and communicating with the shore control post. At the same time, the necessary autonomy for the use of such hybrid autonomous uninhabited underwater vehicles (HAUVs) can be ensured by a network of bottom stations equipped with systems for contactless charging and information exchange with the shore UPC control post. The work proposes the concept of an underwater service station (USS) for a HAUV, which allows, in long-term underwater deployment conditions, to use the device not only in an autonomous mode, but also in a remote control mode from a shore control post. A model for using the station for its intended purpose and the composition of the equipment necessary for its implementation have been determined, the design of the technical solution of the station has been presented, determined taking into account the features of installation on a complex bottom surface and the requirements for docking the HAUV for contactless charging and information exchange, including in the mode of remote control from the SCP. Basic technical solutions for the USS have been developed that provide automatic adjustment of the horizontal position of the docking unit, reliable docking and holding of the HAUV charging and information exchange terminals, and control of the vehicle’s pointing process using a set of rotary video cameras with lamps and a sector-view sonar. Algorithms for interaction between the station and the HAUV have been developed for autonomous and controlled via optical communication cable operating modes of the vehicle.

Организация энергетического и информационного взаимодействия берегового поста управления с гнпа при обслуживании подводных добычных комплексов

The creation of underwater stations and resident vehicles for use in underwater conditions, as well as technologies that provide the full range of measures necessary for the placement, maintenance, bringing, reception and release of an underwater vehicle is a new direction in underwater robotics. When developing such systems, it is necessary to solve a number of tasks, some of which are traditional, for example, the tasks of approaching an underwater vehicle to the station and underwater docking. Other tasks are new, such as providing contactless battery charging and high-speed contactless information exchange between the station and the device, as well as organizing high-speed communication of the station with a remote coastal control post. The domestic experience of research on such tasks is limited to solving particular issues. The representation of the energy and information interaction system of an underwater service station, an uninhabited underwater vehicle and a coastal control post in the form of a single complete complex is unknown from the literature. For this reason, mention task is relevant, the solution of which will ultimately improve the efficiency of hydrocarbon production. The present functional diagram, which combines the channels of energy and information interaction into a single complex. The principle of constructive implementation of the basic elements is defined. Accepted research methods include interrelated theoretical analysis, mathematical modeling, and experimental research.

On One Problem of Identifying a Model of an Uninhabited Underwater Vehicle

On One Problem of Identifying a Model of an Uninhabited Underwater Vehicle

Synthetic data formation for machine learning recognition of underwater objects

The main problem of machine learning for control systems of unmanned underwater vehicles is objectively very small samples of real data. The study aim was to develop an approach to the creation of synthetic data describing underwater objects for as the samples for training and validation in machine learning of control systems for auton-omous unmanned underwater vehicles. The subject of the study was a variety of underwater objects because real information about the shape, size and their external images is very limited. The data augmentation method was used, which makes it possible to obtain additional data on underdetermined objects of observation from the initial data while maintaining the classification features. Eight models have been developed that imitate the influence of various factors of the aquatic environment and allow using various augmentation methods (changing the position, adding noise, glare to the image, defocusing to create fuzziness; fragmentation, etc.) to obtain an almost unlimited number of images of any objects of man-made activity immersed in underwater environment, to varying degrees similar to the reference. Examples of the use of augmentation models that take into account changes in illumina-tion, transparency and the presence of an underwater landscape are given. Such synthetic (model) images may be the basis of a training set for machine learning to recognize and identify underwater objects. The trained model can be used as the basis of a decision support system for operators of remote-controlled unmanned underwater vehicles and as the basis for building control systems for autonomous uninhabited underwater vehicles for moni-toring underwater spaces.

ИССЛЕДОВАНИЕ ОБЪЕКТОВ, ПРЕДСТАВЛЯЮЩИХ ЭКОЛОГИЧЕСКУЮ УГРОЗУ, В ЗАЛИВЕ ЦИВОЛЬКИ (НОВАЯ ЗЕМЛЯ, КАРСКОЕ МОРЕ)

The article presents results of field studies of the environmental assessment of the bays of the eastern coast of Novaya Zemlya in connection with potentially dangerous objects flooded in this region, which are the nuclear fleet operation waste products. In the course of these studies, technology was used based on remote-controlled and towed uninhabited underwater vehicles (ROV and UTSI), as well as side-view sonar (SSS) developed at IO RAS. To detail information about the condition of emergency facilities and operational waste flooded in 60 years at Tsivolki bay, a deep-water UTSI “Video Module” was used. It is equipped with video and photo cameras, a high-frequency SSS, a depth gauge, an altimeter, a laser scale pointer, as well as auxiliary equipment that ensures the functioning of research systems. Observations in the Gulf of Tsivolki using instrumental technologies made it possible to identify underwater objects whose existence was known only from archival data. Monitoring of the condition of objects was provided using RAM-family gamma-ray spectrometers developed at the Kurchatov Institute Research Center. The nature of the recorded gamma-ray spectra generally corresponds to the measurement results obtained during the assembly survey in 2010 and 2015, and indicates the integrity of the internal protective barriers.

ДИНАМИЧЕСКАЯ МОДЕЛЬ ПОДВОДНОГО РОБОТА С МАНИПУЛЯТОРАМИ

The motion of an uninhabited underwater vehicle (NPA) with manipulators mounted on its body is simulated. The proposed mathematical model is designed to synthesize algorithms for the control system of technological operations in the mode of dynamic positioning and tracking of program trajectories of the working body.

ELIMINATION OF THE INFLUENCE OF WIND-WAVE DISTURBANCES ON THE MOVEMENT OF THE UNDERWATER VEHICLE USING LOW-FREQUENCY FILTERING

The article is devoted to the problem of the influence of wind-wave disturbances on the quality of control of an uninhabited underwater vehicle. The problem is urgent, since as a result of such an impact, there is an increase in the cost of electricity for the operation of the engine, which pumps and pumps water into the ballast chamber of the underwater vehicle to maintain it at a given depth, which generally affects the reduction of the time the device stays underwater. In the course of the study, the influence of the wind wave disturbance was assessed depending on its score, and a means was proposed to eliminate excessive energy costs in the form of low-frequency filtration.

Ship Hull Inspection Using Autonomous an Underwater Vehicle with a Stereo Camera

Regular visual inspection of the underwater surface of the ship’s hull to check its integrity and the degree of biofouling is necessary to ensure the safety and efficient operation of the ship. The article proposes a method for the automated solution of this problem using an autonomous uninhabited underwater vehicle (AUV) equipped with a stereo camera controlled by a tilt actuator. The movement of the AUV is carried out along equidistant lines along the ship’s hull with simultaneous video filming of the hull surface. The AUV trajectory is calculated using the visual navigation method (visual odometry). Estimated data on the localization of the AUV relative to the ship’s hull are used in the method of controlling the movement of the vehicle to ensure the stable movement of the vehicle at a given distance from the inspected surface. Direct calculation of AUV localization data is done using the proposed original algorithm, which is implemented in the form of a software tool "stereo rangefinder". The operation of the "stereo rangefinder" is based on the matching of features in images using the SURF detector, followed by the construction of a 3D point cloud. The technique for performing automatic inspection of the ship as a whole is described. Fixed stereo images are also used to build a 3D model of the surface being examined. The applied method of constructing a global spatial model of the surface is based on the union of 3D point clouds obtained for local views. The construction of a 3D point cloud for a particular view is based on a matching of 2D point features on images of a stereo pair (SURF detector / correlation calculation), followed by the use of the ray triangulation method to obtain the spatial coordinates of the points. The presence of a 3D model makes it possible to conduct a detailed visual analysis of the state of the ship’s hull. Simulation modeling of the functioning of the developed tools on virtual scenes was carried out. Quantitative and qualitative performance evaluations obtained as a result of testing showed the acceptability of the proposed method for automatic inspection of the underwater part of the ship’s hull.

РАЗРАБОТКА И ЭКСПЛУАТАЦИЯ ГЛУБОКОВОДНОГО ОКЕАНОГРАФИЧЕСКОГО КОМПЛЕКСА В СОСТАВЕ БУКСИРУЕМЫХ АППАРАТОВ «ЗВУК»

The article presents a technical review on the development of deep-sea complex with a working depth of immersion and towing of 6000 m in the 1980s at the Shirshov Institute of Oceanology of the USSR Academy of Sciences. The complex was devoted to studies of the bottom surface and underwater objects in the interests of the Hydrographic Service of the Russian Navy. The complex consists of two towed uninhabited underwater vehicles “Sound-Complex” and “SoundMAFT”. A special hydrographic vessel with a displacement of 2600 tons was converted for deep-sea towing and storage of these devices. Computer CM1420 was used for the ship’s automated system for collecting and processing information coming from an underwater hydro acoustic navigation system, a proton magnetometer, a TV system, and side and frontal sonars. The complex was operated until 1992 in the Atlantic Ocean, the Black, Mediterranean and Baltic Seas, and was decommissioned in the early 1990s. Modern issues of the operation of industrial pipelines require understanding of experience and the creation of towed uninhabited underwater vehicles at a new technological level.

ПРИМЕНЕНИЕ ГЛУБОКОГО ОБУЧЕНИЯ ДЛЯ АУГМЕНТАЦИИ И ГЕНЕРАЦИИ ПОДВОДНОГО НАБОРА ДАННЫХ С ПРОМЫШЛЕННЫМИ ОБЪЕКТАМИ

The purpose of the study: development of a deep learning method for augmentation and generation of a problem-oriented dataset containing industrial objects, including the development of more efficient data generation and augmentation algorithms based on deep learning, which allow you to create more diverse and realistic data corresponding to industrial objects that can be transferred from one style domain to another. The goal set in the study is related to the actual scientific and technical problem of providing computer vision in systems operating in the underwater environment. These can be autonomous uninhabited underwater vehicles that look for breaks in pipelines, analyze oil leaks, the movement of schools of fish, etc. However, today there is not enough data containing the described objects in the conditions of their real existence. Thus, it is necessary to provide the training sample with realistic images. Research methods: the CycleGAN architecture, which converts a dataset containing images of various objects taken in a laboratory or in a conventional aboveground environment into a dataset containing the cha¬racteristics of an underwater environment. To evaluate the developed augmentation algorithm, it is proposed to use image classification by domains, which can be performed using the ResNet convolutional neural network. Results of the study. A tool is presented to solve the problem of the lack of underwater datasets, a deep learning model is developed, which is used to create images with underwater elements. The model works on the principle of a cyclic generative adversarial network, which receives a real image of an industrial facility in surface conditions as an input, and returns a generated image of the same industrial facility in underwater conditions as an output. Visual analysis of images shows that this method is quite adequate. In addition, a test on the classification model showed almost 100% ability of the neural network to distinguish between domains. Conclusion. The study showed that the CycleGAN model can be used to create images of various objects in the underwater environment. In the future, it is possible to search for additional augmentation procedures, in addition, augmentations of the generated set can be used images, which will also provide researchers and developers with sufficient material with industrial facilities in the underwater environment. This can improve the quality of developments.

Автономный необитаемый подводный аппарат для поиска, обнаружения и уничтожения миноподобных объектов

The paper studies the principles of functioning of an autonomous uninhabited underwater vehicle that solves the problems of searching, detecting and destroying mines. The basic principles of the construction and operation of the anti-mine AUV are considered, hydroacoustic means of searching for mines with a description of the optimal detection and classification algorithm are given, and the system for destroying mines is described. The basics of the optimal design of anti-mine AUVs in terms of the design of the general structure of the vehicle and recommendations for the use of manufacturing materials are given.

Visual Method of Pipeline Detection by an Autonomous Underwater Vehicle using a Stereo Camera

This paper describes a method for searching and recognizing extended underwater communication using a stereo camera mounted on an autonomous uninhabited underwater vehicle (AUV). The output data is a list of coordinates in three-dimensional space. The method uses a pair of stereo images as input data. The method uses stereo images to create a dense depth map and a map of height differences, with the help of which extended structures are detected. The problem of filtering the interference present on the seabed is also solved by screening out objects whose size does not correspond to the expected size of the pipeline. The algorithm calculates the coordinates of the selected point on a two-dimensional image and projects it into three-dimensional space. Thus, the algorithm gets the coordinates of the point through which the pipeline build. The objectives of the work are: description of the method, setting up an experiment on a virtual model, description of the experiment and its results. The paper presents a step-by-step method for solving the problem, presents the results of an experiment set on a virtual model. The algorithm confidently determined the selected pipe in clean areas, and areas with interference having a height greater than the pipeline. As a result, a list of coordinates is obtained through which the virtual pipeline runs. Further development and improvement of the developed method is possible

Field testing technology of an autonomous uninhabited underwater vehicle navigation aids

The modified technology of full-scale tests of autonomous uninhabited underwater vehicles for checking the accuracy of their navigation aids and various trajectories development of underwater movement is proposed.

Improving the positioning accuracy in the navigation system of an autonomous uninhabited underwater vehicle

A modified algorithm for positioning the navigation system of an autonomous uninhabited underwater vehicle is proposed. It increases the accuracy of navigation in conditions of small inclined distances between positioning objects.

Adaptive underwater vision sistems

Over the past few years, the market for uninhabited underwater vehicles has expanded significantly. Since the Re-search Institute of Television has experience in building television systems for underwater vehicles, the television systems used in existing vehicles were analyzed. Based on the analysis of the television systems installed on underwater vehicles, the places were identified, the modification of which makes it possible to improve the characteristics of television systems. A method is proposed to increase the autonomy of uninhabited underwater vehicles by adapting the operating mode of the television system.