Underwater Soft Robot Modeling and Control With Differentiable Simulation

control and guidance of an underwater robot via fuzzy control method

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

Behavioral Modeling and Simulation of Underwater Channel

Abstract— The Ocean is a dynamic and complex environment; it is a very complicated transmission channel that can change rapidly with the environmental conditions. Hence, to avoid failure of underwater monitoring missions, it’s crucial to predict the behavior of underwater acoustic channel. In this paper, several fundamental key aspects of underwater acoustic channel are investigated. A model ch...

Modeling and Simulation of Motion of an Underwater Robot Glider for Shallow-water Ocean Applications

This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing gl...

Fuzzy Trajectory Control Design for Underwater Robot

The URV is operated manually with a joystick or automatically with a computer. The automatic control of the underwater robot is a difficult problem due to its nonlinear dynamics. Moreover, the dynamics can change according to the alteration of configuration to be suited to the mission. In order to cope with those difficulties, the control system should be flexible. An interesting review of clas...

Autonomous Robot Control for Underwater Tunnel Mapping