Download or read book Design and Construction of Remotely Operated Underwater Vehicle with Manipulator Arm written by Muhammad Zuhdi Mohd Zin and published by . This book was released on 2014 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.
Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Download or read book Design and Construction of Low Cost Remotely Operated Underwater Vehicle written by Kin Sun Bong and published by . This book was released on 2009 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Biomimetic Vehicle Manipulator System written by Shuo Wang and published by Springer Nature. This book was released on 2023-04-27 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors’ long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.
Download or read book Design Fabrication Testing of Underwater Remotely Operated Vehicle written by Harsh Shah and published by LAP Lambert Academic Publishing. This book was released on 2013-01 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book throws light on the fundamentals of designing and construction of a simple underwater Remotely Operated Vehicle(ROV). It explains how an economical ROV can be fabricated and used for numerous applications. This book is handy for college-level students to understand and implement basic concepts of underwater vehicles. We have even included pictures, calculations and test results of an actual ROV prototype that we built ourselves, thus providing you with information and guidance required to build an ROV right from scratch.
Download or read book Advances in Grasping and Vehicle Contact Identification written by Edward Ramsey Snow and published by . This book was released on 1999 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis focuses on improving the productivity of autonomous and telemanipulation systems consisting of a manipulator arm mounted to a free flying underwater vehicle. Part I minimizes system sensitivity to misalignment by developing a gripper and a suite of handles that passively self align when grasped. After presenting a gripper guaranteed to passively align cylinders we present several other self aligning handles. The mix of handle alignment and load resisting properties enables handles to be matched to the needs of each task. Part I concludes with a discussion of successful field use of the system on the Jason Remotely Operated Undersea Vehicle operated by the Woods Hole Oceanographic Institution. To enable the exploitation of contact with the environment to help stabilize the vehicle, Part II develops a technique which identifies the contact state of a planar vehicle interacting with a fixed environment. Knowing the vehicle geometry and velocity we identify kinematically feasible contact points, from which we construct the set of feasible contact models. The measured vehicle data violates each model's constraints; we use the associated violation power and work to select the best overall model. Part II concludes with experimental confirmation of the contact identification techniques efficacy.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-22 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Download or read book Underwater Vehicles written by George M. Roman and published by Nova Science Publishers. This book was released on 2020 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--
Download or read book Rex 2 written by Dylan Owens and published by . This book was released on 2009 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: The practical usage of unmanned underwater vehicles (UUVs) is limited by vehicle and operation cost, difficulty in accurate navigation, and communication between the vehicle and operator. The "Rex 2" UUV employs a system design where a submersible is connected to a float at the water's surface by means of a tether. By maintaining a surface expression, high-bandwidth radio communication to the operator becomes possible, and GPS may be used for accurate navigation. This arrangement allows the freedom of movement characteristic of untethered autonomous underwater vehicles (AUVs), while maintaining the live operator control and communication found with tethered remotely operated vehicles (ROVs). Expanding on the design and field experiences with the MIT AUV Lab's first Reef Explorer UUV, Rex 2 was designed to be inexpensive, easy to deploy, adaptable to various payloads, and simple to use. Rex 2 was designed, built, and operated in a number of ocean field tests, validating the utility of the vehicle and system concept.
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
Download or read book Development of an Actively Compliant Underwater Manipulator written by and published by . This book was released on 1988 with total page 101 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes the design, construction, and evaluation of an actively complaint underwater manipulator for installation on the underwater remotely operated vehicle (ROV) JASON. The goal of this work has been to produce a high fidelity force-controllable manipulator exhibiting no backlash, low striction/friction, high back-driveability, wide dynamic range, and possessing a large work envelope. By reducing the inherent dynamic nonlinearities, a wide range of joint compliances can realistically be achieved. This feature is important when implementing various force control schemes, particularly impedance control. In addition, a mechanically 'clean' transmission reduces the need for sensors and allows the user to rely on integral motor sensors to provide torque, position, and velocity information. A three axis manipulator rated to full ocean was built. Each of the revolute joints is driven by a DC brushless sensorimotor working through a multi-stage cable/pulley transmission. The manipulator mechanism and wiring is fully enclosed by cast aluminum housing filled with mineral oil. Mineral oil functions to pressure compensate and lubricate the system. Exterior surfaces of the manipulator are smooth and continuous, and were designed to act as work surfaces. Joints one and two have a 240 deg range of motion, while joint three can rotate 380 deg. The manipulator transmissions are modeled and predictions of manipulator stiffness, dynamic range, payload capacity, and hysteresis are compared with the results of tests conducted on the actual system. Operation of the cable/pulley transmissions are evaluated and suggestions for improvements are given. Theses. (jhd).
Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by . This book was released on 1995 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Remotely Operated Vehicle ROV written by Libby Bowles and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this senior design project is to build a Remotely Operated Vehicle (ROV). ROVs are underwater robots designed to support a variety of human activities in and on the water. We aim to design our ROV to meet the competition requirements laid out in the Pioneer Class competition manual for the 2023 Marine Advanced Technology Education (MATE) Regional ROV Competition and to create a video showing the ROV’s capabilities. Given the 2023 manual, the ROV has the following capabilities: simple manual control, six degrees of freedom, lighting, video, grab, carry, collect liquid samples, administer treatment, lift, and dive to 4 m.
Download or read book Guidance and Control of Ocean Vehicles written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 1994-09-20 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.
Download or read book Design and Fabrication of ROV Remotely Operated Underwater Vehicle for Underwater Exploration written by Muhamad Fadli Ghani and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
