Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles promising solution. This paper proposes laser-camera triangulation for pose estimation to enable following an vehicle. The laser 3D data experimentally compared doppler velocity log (DVL) active farm. We show that our system comparable performance DVL distance angu...

Mental workload is a key factor influencing the occurrence of human error, especially during piloting and remotely operated vehicle (ROV) operations, where safety depends on the ability of pilots to act appropriately. In particular, excessively high or low mental workload can lead operators to neglect critical information. The objective of the present study is to investigate the potential of fu...

A new closed loop fuzzy motion control system including on-line Kalman’s filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy gu...

Abstract Nowadays, the development of unmanned vehicles is significantly increased. Since remotely operated vehicle (ROV) has more advantages than Diver. Then, ROV an important role in underwater inspection and research various sectors, such as offshore infrastructure development. will give some critical information to operator about like bathymetry, pipeline inspection, other crucial subsea st...

A vision-based automatic tracking and observation system installed on an ROV has successfully tracked midwater ocean animals (such as jellyfish) in Monterey Bay, California. This system uses stereo vision to localize the tracking vehicle with respect to the target of interest and closes control loops to maintain the target in the views of the cameras. The vision and control algorithms have been...

This project will address the problem of creating mosaic maps of the seafloor using remotely-operated vehicles (ROV) or autonomous underwater vehicles (AUV) operated by the Monterey Bay Aquarium Research Institute (MBARI). The author believes that a number of shortcomings of the current system could be improved upon through the use of SIFT for image registration. Time permitting, the author wou...

This paper presents an innovative sensor fusion strategy for the positioning of an underwater ROV. The use of multiple Kalman filters makes the system highly adaptable by allowing different combinations of sensors without any modification of the models. This algorithm can handle any number of redundant sensors by using multi-filter fusion and can work asynchronously with different sensor data r...

O ROV – Remotely Operated Vehicle é um dos equipamentos submarinos mais utilizados na indústria de óleo e gás mundial, para manter uma boa eficiência operacional necessário plano manutenção conciso eficiente. Dentre as manutenções aplicadas ao robô submarino estão a corretiva, preventiva preditiva. Portanto, o objetivo geral deste trabalho analisar principais falhas operacionais apresentadas pe...