Underwater Robots by Gianluca Antonelli (auth.)

By Gianluca Antonelli (auth.)

This ebook, now on the 3rd version, addresses the most regulate features in underwater manipulation projects. The mathematical version with major effect at the keep watch over process is mentioned. the matter of controlling a 6-degrees-of-freedoms self sustaining underwater automobile is deeply investigated and a survey of fault detection/tolerant recommendations for unmanned underwater automobiles is equipped. Inverse kinematics, dynamic and interplay keep an eye on for underwater vehicle-manipulator structures are then mentioned. The code used to generate many of the numerical simulations is made to be had and in brief discussed.

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Underwater Robots

This booklet, now on the 3rd version, addresses the most regulate features in underwater manipulation projects. The mathematical version with major impression at the regulate method is mentioned. the matter of controlling a 6-degrees-of-freedoms self reliant underwater motor vehicle is deeply investigated and a survey of fault detection/tolerant options for unmanned underwater cars is supplied.

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A. Balasuriya, T. Ura, Autonomous target tracking by Twin-Burger 2, in Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000 (IROS 2000), IEEE, vol. 2, 2000, pp. 849–854 40. D. F. Yates, P. Blankinship, J. Bellingham, Autonomous underwater vehicle homing/docking via electromagnetic guidance. IEEE J. Oceanic Eng. 26(4), 515–521 (2001) 41. Y. H. M. Lee, J. Oh, Experiments on vision guided docking of an autonomous underwater vehicle using one camera. Ocean Eng.

As detailed above, several sensors are normally mounted on an AUV in order to implement sensor fusion algorithms and obtain an estimation more reliable than by using a single sensor. , the estimation of the position by properly merging and integrating measurements obtained with inertial and velocity sensors. Dead reckoning suffers from numerical drift due to the integration of sensor noise, as well as sensor bias and drift, and may be prone to the presence of external currents and model uncertainties.

5 Gravity and Buoyancy “Ses deux mains s’accrochaient à mon cou; elles ne se seraient pas accrochées plus furieusement dans un naufrage. Et je ne comprenais pas si elle voulait que je la sauve, ou bien que je me noie avec elle”. Raymond Radiguet, “Le diable au corps” 1923. When a rigid body is submerged in a fluid under the effect of the gravity two more forces have to be considered: the gravitational force and the buoyancy. , it is not function of a relative movement between body and fluid. 81 the acceleration of gravity, ∇ the volume of the body and m its mass.

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