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In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
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Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish
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坚固的水下对接视觉指导和定位方法基于式双层指导光阵列.

Ziyue Wang1,2, Xingqun Zhou1,3, Yi Yang1

  • 1State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

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概括

这项研究引入了一种新型的双层引导光阵列,用于自动水下车辆 (AUV) 的对接. 该系统确保可靠的视觉定位和AUV恢复的持续指导,即使有有限的摄像头视图.

关键词:
在AUV对接上,AUV对接.自动驾驶汽车 (AUV) 恢复双层光线阵列是双层的光线阵列.光学指导是指光学指导的.视觉定位视觉定位定位.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 计算机视觉 计算机视觉
  • 海洋工程 海洋工程

背景情况:

  • 自主水下车辆 (AUV) 需要精确的定位来对接.
  • 由于相机视野有限,在AUV接近时,导向信标会丢失.
  • 现有的方法在间歇性信标可见性和不同的外观方面扎.

研究的目的:

  • 为AUV对接开发一种强大的视觉定位方法.
  • 为了克服信标可见性丧失和间歇性数据的挑战.
  • 为了实现自主AUV恢复的持续视觉指导.

主要方法:

  • 建议采用子型,双层导向灯光阵列系统.
  • 一个双层光阵列本地化算法动态区分前后阵列.
  • 粒子集群优化 (PSO) 和回溯扩展卡尔曼波器 (BTEKF) 用于标签匹配和错误纠正.

主要成果:

  • 实现了高匹配成功率 (90.3%有3个缺失的灯,99.6%有2个虚假的信标).
  • 使用BTEKF的错误纠正将成功率提高到99.9%.
  • 证明了稳定和强大的标签匹配,平均检测时间为0.112秒.

结论:

  • 拟议的双层引导光阵列系统为AUV对接提供了可靠的视觉指导.
  • 该方法确保在具有挑战性的条件下持续本地化和强大的标签匹配.
  • 允许基于视觉指导的稳定和持续的对接,用于自主AUV恢复.