相关论文: An Open Toolkit for Underwater Field Robotics
The underwater Unmanned Vehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular…
There is a wide consensus within the polar science, meteorology, and oceanography communities that more in-situ observations of the ocean, atmosphere, and sea ice, are required to further improve operational forecasting model skills.…
This paper presents BURG-Toolkit, a set of open-source tools for Benchmarking and Understanding Robotic Grasping. Our tools allow researchers to: (1) create virtual scenes for generating training data and performing grasping in simulation;…
A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and…
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from…
Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm,…
Life on earth depends on healthy oceans, which supply a large percentage of the planet's oxygen, food, and energy. However, the oceans are under threat from climate change, which is devastating the marine ecosystem and the economic and…
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…
The simulation and parameter optimization of coupled ocean circulation and ecosystem models in three space dimensions is one of the most challenging tasks in numerical climate research. Here we present a scientific toolkit that aims at…
We present an approach to experimental radar systems education based on a combination of commercial low-cost hardware with modern open-source software technologies. Following a discussion of the general top-level architecture of flexible,…
Precise underwater positioning remains a fundamental challenge for underwater robotics since global navigation satellite system (GNSS) signals cannot penetrate the sea surface. This paper presents Raspi$^2$USBL, an open-source, Raspberry…
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater Vehicles (AUVs) to seamlessly interact with humans in an…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
Deploying multi-robot systems in underwater environments is expensive and lengthy; testing algorithms and software in simulation improves development by decoupling software and hardware. However, this requires a simulation framework that…
Mixed Reality (MR) and Virtual Reality (VR) simulations are hampered by requirements for hand controllers or attempts to perseverate in use of two-dimensional computer interface paradigms from the 1980s. From our efforts to produce more…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…