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Turbidity-adaptive underwater image enhancement method using image fusion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-021-0669-8

Abstract: Clear, correct imaging is a prerequisite for underwater operations.Most of the existing underwater imaging methods focus on relatively clear underwater environment, itis uncertain that if those methods can work well in turbid and dynamic underwater environments.In this paper, we propose a turbidity-adaptive underwater image enhancement method.The proposed method is verified by an underwater image dataset captured in real underwater environment

Keywords： turbidity     underwater image enhancement     image fusion     underwater robots     visibility    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Design and construction technology of underwater tunnel

Wang Mengshu

Strategic Study of CAE 2009, Volume 11, Issue 7,   Pages 4-10

Abstract: text-align: justify;">It is briefly introduced that when passing over or crossing rivers, lakes and seas, underwaterof design and construction, key construction technology and frequently-used construction method of underwater

Keywords： underwater tunnel     design     construction    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 6,   Pages 1350-1362 doi: 10.1007/s11709-019-0559-x

Abstract: experiments and numerical studies are conducted to investigate the effect of shock loads due to an underwaterNumerical simulations with three different models of pressure time history generated by underwater explosionThe second model to predict the time history of shock wave pressure from an underwater explosion was

Keywords： underwater explosion     centrifuge experiment     shock load     dynamic response     accumulated shock impulse    

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Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal

Hai YANG, Jie MA,

Frontiers in Energy 2009, Volume 3, Issue 4,   Pages 472-479 doi: 10.1007/s11708-009-0052-7

Abstract: Based on the enthalpy method, a mathematical model of the underwater glider’s power system wasthe time efficiency of operation was introduced, so that the effects of different thermoclines on the underwater

Keywords： mathematical     underwater glider     system working     certain     corresponding threshold    

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Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 11,   Pages 1378-1396 doi: 10.1007/s11709-022-0855-8

Abstract: It is of great significance to quickly detect underwater cracks as they can seriously threaten the safetyof underwater structures.In this paper, a large-scale underwater crack examination method is proposed based on image stitchingIn addition, a purpose of this paper is to design a new convolution method to segment underwater imagesThe result shows that the improved APAP algorithm and GCN can adapt to complex underwater environments

Keywords： underwater cracks     remote operated vehicle     image stitching     image segmentation     graph convolutional    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complextests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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Aslotted floor acquisitionmultiple access based MACprotocol for underwater acoustic networks withRTS

Liang-fang QIAN,Sen-lin ZHANG,Mei-qin LIU

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 3,   Pages 217-226 doi: 10.1631/FITEE.1400187

Abstract: bandwidth, and high bit error rate pose great challenges in media access control (MAC) protocol design for underwaterA MAC protocol called slotted floor acquisition multiple access (slotted-FAMA) suitable for underwaterTo overcome this drawback, this paper proposes a slotted-FAMA based MAC protocol for underwater acoustic

Keywords： Underwater acoustic networks     Medium access control (MAC)     Request-to-send (RTS) competition     Throughput    

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Development of Marine Equipment for Underwater Stereoscopic Observation

Ma Rui, Zhao Xiutao, Liu Cungen

Strategic Study of CAE 2020, Volume 22, Issue 6,   Pages 19-25 doi: 10.15302/J-SSCAE-2020.06.003

Abstract:

Establishing an underwater stereoscopic observation network to obtainThis study first analyzes the need and necessity of developing the underwater stereoscopic observationdevelopment, and presents the key breakthrough points of marine sensors which serve as the key link for underwatertransformation of research results of key marine sensors, coordinate the management of the marine equipment for underwater

Keywords： ocean observation     sea floor observatory network     underwater vehicle     underwater sensor    

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0741-z

Abstract: tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robotsExisting inspection robots are usually involved in issues: Robots with manipulators need complicatedinstallation due to their fixed base; tube mobile robots suffer from low running efficiency because ofMost in-service robots check the task tubes using row-by-row and column-by-column planning.

Keywords： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

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Fabrication of a superhydrophilic/underwater superoleophobic stainless steel mesh for oil/water separation

Frontiers of Chemical Science and Engineering 2023, Volume 17, Issue 1,   Pages 46-55 doi: 10.1007/s11705-022-2170-2

Abstract: increasing amount of oily wastewater produced each day, it is important to develop superhydrophilic/underwaterIn this paper, a superhydrophilic/underwater superoleophobic N-isopropylacrylamide-coated stainless

Keywords： oil/water separation     N-isopropylacrylamide     stainless steel mesh     ultrahigh flux    

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Key technologic problems on underwater shield tunnel

Sun Mou,Tan Zhongsheng

Strategic Study of CAE 2009, Volume 11, Issue 7,   Pages 18-23

Abstract:

Combined with some underwater shield tunnels such as Wuhan Changjiangpreventing tunnel floating, controlling shield direction, excavating long distance, abutting joint underwater

Keywords： underwater tunnel     shield     cover thickness     type selection     key construction technology    

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Title Author Date Type Operation

Turbidity-adaptive underwater image enhancement method using image fusion

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Design and construction technology of underwater tunnel

Wang Mengshu

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Journal Article

Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal

Hai YANG, Jie MA,

Journal Article

Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

Aslotted floor acquisitionmultiple access based MACprotocol for underwater acoustic networks withRTS

Liang-fang QIAN,Sen-lin ZHANG,Mei-qin LIU

Journal Article

Development of Marine Equipment for Underwater Stereoscopic Observation

Ma Rui, Zhao Xiutao, Liu Cungen

Journal Article

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Journal Article

Fabrication of a superhydrophilic/underwater superoleophobic stainless steel mesh for oil/water separation

Journal Article

Key technologic problems on underwater shield tunnel

Sun Mou,Tan Zhongsheng

Journal Article