English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

Many complex vehicular systems, such as large marine vessels, containconfined spaces like water tanks, which are critical for the safe functioningof the vehicles. It is particularly hazardous for humans to inspect such spacesdue to limited accessibility, poor visibility, and unstructured configuration.While robots provide a viable alternative, they encounter the same set ofchallenges in realizing robust autonomy. In this work, we specifically addressthe problem of detecting foreign object debris (FODs) left inside the confinedspaces using a visual mapping-based system that relies on Mahalanobisdistance-driven comparisons between the nominal and online maps for localoutlier identification. Simulation trials show extremely high recall but lowprecision for the outlier identification method. The assistance of remotehumans is, therefore, taken to deal with the precision problem by going overthe close-up robot camera images of the outlier regions. An online survey isconducted to show the usefulness of this assistance process. Physicalexperiments are also reported on a GPU-enabled mobile robot platform inside ascaled-down, prototype tank to demonstrate the feasibility of the FOD detectionsystem.

Human-Assisted Robotic Detection of Foreign Object Debris Inside Confined Spaces of Marine Vessels Using Probabilistic Mapping