遥控车辆及其使用运动捕捉系统和张力传感器的带的跟踪数据
Juri Khanmeh1, Bilal Wehbe2, Enrico Simetti3,4
1DIBRIS, University of Genoa, Via All'Opera Pia 13, 16145, Genoa, Italy. juri.khanmeh@edu.unige.it.
Scientific data
|December 2, 2025
概括
这项研究引入了关于远程操作车辆 (ROV) 水下带行为的新数据集. 这些数据有助于开发水下机器人的先进控制和管理系统.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 海洋工程 海洋工程
- 数据科学数据科学数据科学
背景情况:
- 水下远程操作车辆 (ROV) 依赖于电源和通信的绳索.
- 准确建模绳索动力学对于有效的ROV操作和导航至关重要.
- 现有的数据集可能无法完全捕捉水下绳索的复杂行为.
研究的目的:
- 来自BlueROV2.2的水下绳索行为的综合数据集.
- 为开发和验证水下绳索模型提供一个基准.
- 促进机器学习和ROV数据驱动控制方法的研究.
主要方法:
- 使用运动捕捉系统 (mo-cap),机载ROV传感器和表面张力传感器收集数据.
- 在BlueROV2操作过程中获取绳索运动和张力数据.
- 详细描述实验设置,数据采集和后处理程序.
主要成果:
- 一个丰富的数据集,捕捉了各种条件下的水下绳索动态.
- 插图图表突出显示数据集中的关键特征和行为.
- 这一数据集可以分析绳索阻力,纠和整体系统动态.
结论:
- 这一数据集是推进ROV技术的宝贵资源.
- 它支持改进的绳索模型,控制策略和导航系统的开发.
- 这项工作有助于通过数据驱动的方法增强水下机器人能力.
相关概念视频
Distance Measurements by Taping
392
Tapes are essential in surveying for accurate, durable, and short-distance measurements. Made from lightweight, nylon-coated steel, they offer flexibility and strength for rugged outdoor use. The nylon coating protects against rust and wear, extending the tape's life. Standard lengths, around 30 meters, are marked in meters and millimeters for precision.Surveyors select tapes based on site conditions and accuracy needs. Lightweight, nylon-coated tapes are commonly used for ease of handling and...
392
Relative Motion Analysis - Velocity
672
A stroke engine has a slider-crank mechanism that converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider.
When an external force is exerted, it sets the crank into a rotational movement. This, in turn, instigates the motion of the connecting rod, leading to what is referred to as a general plane motion. This process involves two key points - point A on the connecting rod...
When an external force is exerted, it sets the crank into a rotational movement. This, in turn, instigates the motion of the connecting rod, leading to what is referred to as a general plane motion. This process involves two key points - point A on the connecting rod...
672
Torque Free Motion
778
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
778
Relative Motion Analysis using Rotating Axes
863
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
863


