Krzysztof Naus

Research on biomimetic underwater vehicles for underwater ISR

Autonomous Biomimetic Underwater Vehicles BUVs driven by an undulating propulsion are a new branch in an area of an underwater robotics. They imitate both the construction and kinematics of a motion of underwater living organisms, e.g. fishes. Such vehicles have several features crucial from the point of view of military applications, e.g. larger secrecy and potential range of operation. The paper presents results of the research on BUVs carried out within two (Polish and EDA) projects both led by Polish Naval Academy. At the beginning, the initial efforts in building Polish BUV called CyberFish are included. Then, selected results of the tests of subsystems, e.g. navigational and 3D model of BUV built within national project are described. Next, the initial research achieved in the international project are showed. At the end, the schedule of the research planned to carry out within both projects is inserted. The paper is mainly focused on the hardware development of the BUVs.

Determining Ship Position In A Harbour Based On Omnidirectional Image Of The Coastline

Abstract The following article presents researches aimed at the evaluation of precision in determining a ship’s position through comparing a omnidirectional map image to a real vision image of the coast line. The first part establishes the thesis and preparatory forms in conducting the research. It also presents designed and built equipment including a research tool software. A system equipped with a spherical catadioptric camera that aids data collection on board ship designated to processing and analyzing data collected on board in connection with the spherical images of an electronic navigational chart with a software module. The second part explains procedures followed in conducting the research. The foreword note explains the procedure in data collection aboard a ship maneuvering in the port after which the algorithm for position placement and precise parametrical count was presented. The concluding part shows analyses of obtained research result. It bears a performance on the evaluation of precision at determining position. As a measure, an average error value and distance fluctuation of obtained position from referential position. As our conclusion, primary agents having rudimentary influence on the quality of correlating spherical map image to coastline visual image were characterized.

Precision in Determining Ship Position using the Method of Comparing an Omnidirectional Map to a Visual Shoreline Image

This paper summarises research that evaluates the precision of determining a ships position by comparing an omnidirectional map to a visual image of the coastline. The first part of the paper describes the equipment and associated software employed in obtaining such estimates. The system uses a spherical catadioptric camera to collect positional data that is analysed by comparing it to spherical images from a digital navigational chart. Methods of collecting positional data from a ship are described, and the algorithms used to determine the statistical precision of such position estimates are explained. The second section analyses the results of research to determine the precision of position estimates based on this system. It focuses on average error values and distance fluctuations of position estimates from referential positions, and describes the primary factors influencing the correlation between spherical map images and coastline visual images.

Research on Subsystem of Obstacles Detection Based on Physical Model of Biomimetic Underwater Vehicle

One of the most important subsystems of an Autonomous Biomimetic Underwater Vehicle ABUV [3][4] is a navigation subsystem. The subsystem is responsible for safe navigation under and above the surface of water. One of the key function of the subsystem is an obstacles detection. The paper describes the tests of the obstacles detection performed by means of the physical model of the ABUV in a real environment – the marina in Gdynia.

Accuracy of Positioning Autonomous Biomimetic Underwater Vehicle Using Additional Measurement of Distances

Abstract The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV) using two methods: dead reckoning (DR) and extended Kalman filter (EKF). In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.

ABPP Motion Simulator Based on 3D ENC

Abstract A research focused on development of numerical model of a sea area destined for a motion simulator of an Autonomous Biomimetic Underwater Vehicle (ABPP) is presented in the paper. There are purpose, construction and functionality of the ABPP motion simulator generally characterized in the introduction. The first part contains description of a method of creating the sea area model based on the data included in the Electronic Navigational Chart (ENC). A method of displaying the sea area model in the ABPP motion simulator, with a use of the Open GL graphic library, is described in the second part. Finally, there are conclusions drawn from the executed research given at the end.

The problem of the instrument stabilization during hydrographic measurements

Abstract Performing any measurement on watercraft is connected with many additional difficulties caused by the sea-environment. The most important is the problem of spatial stabilization of measurement systems, which are usually fastened to craft body. As soon as usually these measurement are executed during the move of the craft additional question is the accuracy of execution the planed trajectory. This is a problem for all investigators, especially when system use spatially configured beams of any antennas or other sensors, regardless is it receiving or transmitting one. Different aspects of these question are the subject of research activity of Institute of Navigation and Maritime Hydrography of Polish Naval Academy. In this paper the review of works executed in last years are presented.

Present Status And Tendencies In Docking Systems’ Development

Abstract The process of the ships docking, especially very large ships, is an very risky operation in confined and busy port waters. The similar difficult is the task to pass along any channel, river, strait or similar water road. The basic difficulty causes maneuvering with the great mass of the ship in situation of small space to maneuvers, the large inertia of the object and poor maneuvering properties at small speeds occurring in such circumstances. An additional factor, which make this task more difficult is the influence of the wind and the sea current on the hull of the inert ship as well as consequences of the limited visibility. The bad weather can cause the necessity to delay the maneuver. However this joins with heavy costs. An alternative is usage of systems supporting this process. In this paper nowadays accessible systems for augmentation the docking and harbor navigation are analysed. There are: shore based (active or passive) and ship based (active). This paper is prepared in the frame of Bonus project call 2012 ‘The Captain Assistant system for Navigation and Routing during Operations in Harbor’.