sensors-logo

Journal Browser

Journal Browser

Special Issue "Unmanned Underwater Vehicles (UUV)—Advances, Applications & Challenges"

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Intelligent Sensors".

Deadline for manuscript submissions: 30 June 2020.

Special Issue Editors

Dr. Vassilis S. Kodogiannis
Website
Guest Editor
University of Westminster, School of Computer Science and Engineering, 115 New Cavendish Street, London W1W 6UW, United Kingdom
Interests: Neural networks; Fuzzy Systems; Genetic Algorithms; Hybrid Systems; Machine learning; Image/Signal processing; Bio-signal Analysis; Chemometrics; Control; Non-Invasive Sensing Systems; Robotics
Special Issues and Collections in MDPI journals
Prof. John Lygouras
Website
Guest Editor
Electrical and Computer Engineering Department, Democritus University of Thrace, Xanthi, Greece
Interests: Electronics; Sensors; Embedded Systems; Robotics (undewater, aerial); Image & Signal Processing

Special Issue Information

Dear Colleagues,

Robotics has played a major role in subsea marine science, engineering, and operations since the introduction of Remotely Operated Vehicles (ROV). ROVs, which are tele-operated robotic systems are now the mainstream tool of subsea operations, enabling the performance of many tasks, from construction to inspection, repair and maintenance. During 1990s, torpedo-shaped Autonomous Vehicles (AUV) employed for a fast, large-scale and high-resolution surveys of the seabed. There is still a growing market for AUVs, since manned missions are very expensive. Such vehicles have found widespread applications in defense, oil & gas and cable surveying. However, they were not able to interact with structures for close-up inspection or manipulation. Therefore, the next efforts in UUV technology is focused on the development of intervention AUVs (I-AUVs) and hybrid ROV-AUVs (H-ROVs) equiped with manipulation capabilities. The domain of UUVs is still an area of ongoing research and although much advancement have been realized in this area, the need for advanced sensing systems, navigation, guidance and control systems for UUVs continues to grow as the demands increase for such vehicles to undertake more complex missions. Prospective authors are invited to submit their contributions for review for publication in this Special Issue and to share the cutting edge technology and novel ideas with other researchers and engineers.

Dr. Vassilis S. Kodogiannis
Prof. John Lygouras
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Sensors is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2000 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

Topics of this special issue will include, but are not limited to:

  • Unmanned Underwater Vehicles (ROV, AUV, etc),
  • Underwater Sensing, Multi-Modal Sensor Fusion, and Manipulation for UUVs
  • Vehicle Guidance, Navigation, Path Planning in UUVs
  • Control and Modeling for UUVs
  • Cooperative Underwater Vehicle Manipulator Systems
  • Networked UUVs
  • Intelligence and Autonomy for Underwater Robotic Vehicles
  • Machine Learning methods for Underwater Vehicles

Published Papers (3 papers)

Order results
Result details
Select all
Export citation of selected articles as:

Research

Open AccessArticle
A Fault-tolerant Steering Prototype for X-rudder Underwater Vehicles
Sensors 2020, 20(7), 1816; https://doi.org/10.3390/s20071816 - 25 Mar 2020
Abstract
The X-rudder concept has been applied to more and more autonomous underwater vehicles (AUVs) in recent years, since it shows better maneuverability and robustness against rudder failure compared to the traditional cruciform rudder. Aiming at the fault-tolerant control of the X-rudder AUV (hereinafter [...] Read more.
The X-rudder concept has been applied to more and more autonomous underwater vehicles (AUVs) in recent years, since it shows better maneuverability and robustness against rudder failure compared to the traditional cruciform rudder. Aiming at the fault-tolerant control of the X-rudder AUV (hereinafter abbreviated as xAUV), a fault-tolerant steering prototype system which can realize dynamics control, autonomous rudder fault detection and fault-tolerant control is presented in this paper. The steering prototype system is deployed on a verification platform, an xAUV, in which the monitor software is developed based on the factory method and the onboard software is developed based on the finite state machine (FSM). Dual-loop increment feedback control (DIFC) is first introduced to obtain smooth virtual rudder commands considering actuator’s limitations. Then the virtual rudder commands are transformed into X-rudder commands based on the mapping theory. In rudder fault diagnosis, an optimized particle filter is proposed for estimating rudder effect deduction, with proposal distribution derived from unscented Kalman filter (UKF). Then the fault type can be determined by analyzing indicators related to the deduction. Fault-tolerant control is addressed by dealing with nonlinear programming (NLP) problem, where minimization of allocation errors and control efforts are set as the optimization objectives, and rudder failure, saturation and actuators limitations are considered as constraints. The fixed-point iteration method is utilized to solve this optimization problem. Many field tests have been conducted in towing tank. The experimental results demonstrate that the proposed steering prototype system is able to detect rudder faults and is robust against rudder failure. Full article
Show Figures

Figure 1

Open AccessArticle
Neuro-Fuzzy Dynamic Position Prediction for Autonomous Work-Class ROV Docking
Sensors 2020, 20(3), 693; https://doi.org/10.3390/s20030693 - 27 Jan 2020
Abstract
This paper presents a docking station heave motion prediction method for dynamic remotely operated vehicle (ROV) docking, based on the Adaptive Neuro-Fuzzy Inference System (ANFIS). Due to the limited power onboard the subsea vehicle, high hydrodynamic drag forces, and inertia, work-class ROVs are [...] Read more.
This paper presents a docking station heave motion prediction method for dynamic remotely operated vehicle (ROV) docking, based on the Adaptive Neuro-Fuzzy Inference System (ANFIS). Due to the limited power onboard the subsea vehicle, high hydrodynamic drag forces, and inertia, work-class ROVs are often unable to match the heave motion of a docking station suspended from a surface vessel. Therefore, the docking relies entirely on the experience of the ROV pilot to estimate heave motion, and on human-in-the-loop ROV control. However, such an approach is not available for autonomous docking. To address this problem, an ANFIS-based method for prediction of a docking station heave motion is proposed and presented. The performance of the network was evaluated on real-world reference trajectories recorded during offshore trials in the North Atlantic Ocean during January 2019. The hardware used during the trials included a work-class ROV with a cage type TMS, deployed using an A-frame launch and recovery system. Full article
Show Figures

Figure 1

Open AccessArticle
Fixed-Time Observer Based Prescribed-Time Containment Control of Unmanned Underwater Vehicles with Faults and Uncertainties
Sensors 2019, 19(20), 4515; https://doi.org/10.3390/s19204515 - 17 Oct 2019
Abstract
The problem of prescribed-time containment control of unmanned underwater vehicles (UUVs) with faults and uncertainties is considered. Different from both regular finite-time control and fixed-time control, the proposed prescribed-time control strategy is built upon a novel coordinate transformation function and the block decomposition [...] Read more.
The problem of prescribed-time containment control of unmanned underwater vehicles (UUVs) with faults and uncertainties is considered. Different from both regular finite-time control and fixed-time control, the proposed prescribed-time control strategy is built upon a novel coordinate transformation function and the block decomposition technique, resulting in the followers being able to move into the convex hull spanned by the leaders in prespecifiable convergence time. Moreover, intermediate variables and the control input terms are also shown to remain uniformly bounded at the prescribed-time. To reduce the magnitude of the bounds, a novel fixed-time observer for the fault is proposed. Two numerical examples are provided to verify the effectiveness of the proposed prescribed-time control strategy. Full article
Show Figures

Figure 1

Back to TopTop