Scipediacontent: Scipediacontent moved page Draft Content 498497913 to Boyer et al 2016a

2021-02-03T18:23:17Z

Scipediacontent moved page Draft Content 498497913 to Boyer et al 2016a

Scipediacontent: Created page with " == Abstract == International audience; — By manipulation of electric fields, it is possible to detect the presence of foreign objects underwater. The presented work builds..."

2021-02-03T18:23:14Z

Created page with " == Abstract == International audience; — By manipulation of electric fields, it is possible to detect the presence of foreign objects underwater. The presented work builds..."

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== Abstract ==

International audience; — By manipulation of electric fields, it is possible to detect the presence of foreign objects underwater. The presented work builds upon a previous result, in which was developed a neural network-based methodology allowing to address this detection problem for spherical objects. Hereafter, we show that the approach generalizes to the case of continuous walls. The technique relies on a neural model of the forward map (from scene configuration to electric measures). Exploiting this model, together with collected electric measures, it becomes possible to detect and infer the relative distance and orientation of a planar wall. In addition, we show that relying on a single forward model, only descriptive of the presence of a single wall, it is possible to address the same problem in presence of a combination of walls forming a corner or a corridor. Closing the motion control loop with information obtained using the proposed approach, it becomes possible to regulate position of a system at a fixed distance and orientation from a wall, with applications to the exploration and monitoring of flooded pipelines, or to surface quality monitoring of ships' hulls (in relation to biofouling). Data collected experimentally are used together with analytical models and numerical simulations to illustrate efficacy of the approach.

== Original document ==

The different versions of the original document can be found in:

* [https://hal.archives-ouvertes.fr/hal-01503248/file/morel_lebastard_boyer_16.pdf https://hal.archives-ouvertes.fr/hal-01503248/file/morel_lebastard_boyer_16.pdf]

* [http://xplorestaging.ieee.org/ielx7/7478842/7487087/07487417.pdf?arnumber=7487417 http://xplorestaging.ieee.org/ielx7/7478842/7487087/07487417.pdf?arnumber=7487417],
: [http://dx.doi.org/10.1109/icra.2016.7487417 http://dx.doi.org/10.1109/icra.2016.7487417]

* [https://hal.archives-ouvertes.fr/hal-01503248 https://hal.archives-ouvertes.fr/hal-01503248],
: [https://hal.archives-ouvertes.fr/hal-01503248/document https://hal.archives-ouvertes.fr/hal-01503248/document],
: [https://hal.archives-ouvertes.fr/hal-01503248/file/morel_lebastard_boyer_16.pdf https://hal.archives-ouvertes.fr/hal-01503248/file/morel_lebastard_boyer_16.pdf]

* [https://ieeexplore.ieee.org/document/7487417 https://ieeexplore.ieee.org/document/7487417],
: [https://dblp.uni-trier.de/db/conf/icra/icra2016.html#MorelLB16 https://dblp.uni-trier.de/db/conf/icra/icra2016.html#MorelLB16],
: [http://dx.doi.org/10.1109/ICRA.2016.7487417 http://dx.doi.org/10.1109/ICRA.2016.7487417],
: [https://hal.archives-ouvertes.fr/hal-01503248/document https://hal.archives-ouvertes.fr/hal-01503248/document],
: [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487417 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487417],
: [https://academic.microsoft.com/#/detail/2414568926 https://academic.microsoft.com/#/detail/2414568926]

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Boyer et al 2016a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 498497913 to Boyer et al 2016a

Scipediacontent: Created page with " == Abstract == International audience; — By manipulation of electric fields, it is possible to detect the presence of foreign objects underwater. The presented work builds..."