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درباره این کتاب:
This book
reports on findings at the intersection
between two related fields, namely coastal
hydrography and marine robotics. On one
side, it shows how the exploration of the
ocean can be performed by autonomous
underwater vehicles; on the other side, it
shows how some methods from hydrography
can be implemented in the localization and
navigation of such vehicles, e.g. for
target identification or path finding.
Partially based on contributions presented
at the conference Quantitative Monitoring
of Underwater Environment, MOQESM, held on
October 11-12, 2016, Brest, France, this
book includes carefully revised and
extended chapters presented at the
conference, together with original papers
not related to the event. All in all, it
provides readers with a snapshot of
current methods for sonar track
registration, multi-vehicles control,
collective exploration of underwater
environments, optimization of propulsion
systems, among others. More than that, the
book is aimed as source of inspiration and
tool to promote further discussions and
collaboration between hydrographers,
robotic specialists and other related
communities.
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Table of contents :
Front Matter ....Pages i-viii
Fast Fourier-Based Block-Matching
Algorithm for Sonar Tracks Registration in
a Multiresolution Framework (Florian
Nicolas, Andreas Arnold-Bos, Isabelle
Quidu, Benoît Zerr)....Pages 1-14
Adaptive Sampling with a Fleet of
Autonomous Sailing Boats Using Artificial
Potential Fields (Hadi Saoud, Frédéric
Plumet, Faiz Ben Amar)....Pages 15-27
Underwater Robots Equipped with Artificial
Electric Sense for the Exploration of
Unconventional Aquatic Niches (Stéphane
Bazeille, Vincent Lebastard, Frédéric
Boyer)....Pages 29-50
Estimating the Trajectory of Low-Cost
Autonomous Robots Using Interval Analysis:
Application to the euRathlon Competition
(Fabrice Le Bars, Elba Antonio, Jorge
Cervantes, Carlos De La Cruz, Luc
Jaulin)....Pages 51-68
Marine Robots in Environmental Surveys:
Current Developments at ISME—Localisation
and Navigation (Andrea Caiti, Riccardo
Costanzi, Davide Fenucci, Benedetto
Allotta, Francesco Fanelli, Niccolò Monni
et al.)....Pages 69-86
Design and Control of an Autonomous
Underwater Vehicle (AUV-UMI) (Adrian
Manzanilla, Miguel Garcia, Rogelio Lozano,
Sergio Salazar)....Pages 87-100
Secure a Zone from Intruders with a Group
Robots (Khadimoullah Vencatasamy, Luc
Jaulin, Benoît Zerr)....Pages 101-116
Comparison of Kalman and Interval
Approaches for the Simultaneous
Localization and Mapping of an Underwater
Vehicle (Jérémy Nicola, Luc
Jaulin)....Pages 117-136
Evolutionary Dynamic Reconfiguration of
AUVs for Underwater Maintenance (O.
Chocron, E. P. Vega, M.
Benbouzid)....Pages 137-178
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