Control of Underwater vehicle manipulator systems (UVMS) are limited to human intervened tele operation in almost all practical applications. Extending these missions to autonomous or semi autonomous operation requires accurate dynamic modeling of the system. Such modeling assists system design and controller testing of autonomous UVMS. The study performs a dynamic analysis to capture relative ...

Underwater vehicles are employed to perform many tasks: structure inspection, recovery, geographic surveys, e.t.c. but most in current operation require constant human supervision. In an attempt to make these vehicles more autonomous, this research project aims to develop a multivariable, neurofuzzy network controller for application to an Autonomous Underwater Vehicle (AUV). The vehicle being ...

Autonomous underwater vehicles (AUVs) are increasingly used, both in military and civilian applications. These vehicles are limited mainly by the intelligence we give them and the life of their batteries. Research is active to extend vehicle autonomy in both aspects. Our intent is to give the vehicle the ability to adapt its behavior under different mission scenarios (emergency maneuvers versus...

The Autosub-la autonomous underwater vehicle (AUV) designed, built and operated by the Southampton Oceanography Centre is a medium endurance, multipurpose sensor platform designed for marine science studies of the upper ocean. With a specified range of 250 km, operating at 3.8 kt, and a diving depth capability of 500 m the vehicle has completed 179 engineering and science missions in UK coastal...

The last decade has witnessed increasing worldwide interest in the research of underwater robotics with particular focus on the area of autonomous underwater vehicles (AUVs). The underwater robotics technology has enabled human to access the depth of the ocean to conduct environmental surveys, resources mapping as well as scientific and military missions. This capability is especially valuable ...

Significant advances in various relevant science and engineering disciplines have propelled the development of more advanced, yet reliable and practical underwater vehicles. A great array of vehicle types and applications has been produced along with a wide range of innovative approaches for enhancing the performance of unmanned underwater vehicle (UUV). These recent advances enable the extensi...

An autonomous underwater vehicle (AUV) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. Design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel AUV is the main goal of this research. Detailed explanation of the test and experiment with a brief overview on fabrication are provide...

A general fuzzy logic control framework along with its application specific modifications is presented to support, evaluate and justify the proposed perspective to unmanned vehicle autonomous navigation. The paper discusses successful applications of collision free motion control of ground, aerial and underwater unmanned vehicles navigation. The common characteristic in all applications regardl...