相关论文: Low-Cost Underwater In-Pipe Centering and Inspecti…
Underground water and wastewater pipelines are vital for city operations but plagued by anomalies like leaks and infiltrations, causing substantial water loss, environmental damage, and high repair costs. Conventional manual inspections…
Water Distribution Systems(WDS) are critical infrastructures that deliver potable water to residential areas. Incidents to pipelines cause water loss and contamination in pipelines. Hence, water quality monitoring is one of the requirements…
Underground pipeline leaks and infiltrations pose significant threats to water security and environmental safety. Traditional manual inspection methods provide limited coverage and delayed response, often missing critical anomalies. This…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
In this paper, we introduce a novel mechanism that uses machine learning techniques to detect water leaks in pipes. The proposed simple and low-cost mechanism is designed that can be easily installed on building pipes with various sizes.…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots…
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…
The robot's objective is to rehabilitate the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the…
Water level monitoring is critical for flood management, water resource allocation, and ecological assessment, yet traditional methods remain costly and limited in coverage. This work explores radar-based sensing as a low-cost alternative…
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by…
Embodied navigation in underground mines faces significant challenges, including narrow passages, uneven terrain, near-total darkness, GPS-denied conditions, and limited communication infrastructure. While recent learning-based approaches…
In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed…
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a $5$ camera and IMU based sensing suite, enabling a refraction-aware…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
We present a simulation experiment of a pipeline based on machine learning algorithms for neutral hydrogen (HI) intensity mapping (IM) surveys with different telescopes. The simulation is conducted on HI signals, foreground emission,…