An accurate dynamic model is important for both controller design and mission simulation, regardless of the control strategy employed. In this paper, a dynamic model for a 3500m underwater manipulator in flow disturbance is established based on Morison method. The technique provides a direct method for incorporating external environmental forces into the model. Applying the superposition princi...

To help swimmers improve, we have developed a computational swimming model using underwater manipulator dynamics. We formulate the equations of the underwater manipulator dynamics using the fluid drag, which is proportional to the square of the velocity. We construct a swimming model consisting of several links based on these equations. The distance traveled by the optimal swimming motion is de...

This paper presents a vision based tracking system for routine underwater pipeline or cable inspection for autonomous underwater vehicles (AUV’s). The objective of this research paper is to investigate the issues of pipeline detection, including pose and orientation measurements in underwater environments. The proposed visual tracking system used an active contour method to track underwater obj...

Inspired by the natural locomotion of jellyfish and squid, a series of compact thrusters series is developed for propulsion and maneuvering of underwater vehicles. These thrusters successively ingest and expel jets of water in a controlledmanner at high frequencies to generate propulsive forces. The parameters controlling the performance of the thrusters are reviewed and investigated to achieve...

We describe preliminary work toward applying a goal reasoning agent for controlling an underwater vehicle in a partially observable, dynamic environment. In preparation for upcoming at-sea tests, our investigation focuses on a notional scenario wherein a autonomous underwater vehicle pursuing a survey goal unexpectedly detects the presence of a potentially hostile surface vessel. Simulations su...

This paper presents the design and experimental implementation of the L1 adaptive controller on a tethered underwater vehicle. This controller, well known for its fast adaptation and its robusntess, is for the first time applied in the field of underwater vehicle control. This paper summarizes the implementation and experimental results obtained on a modified version of the AC-ROV underwater ve...

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interact...

In the paper a semiautomatic control system to steering of unmanned underwater vessel is considered. The fuzzy logic is incorporated for the keeping of desired orientation and two independent controllers are used to generate command signals. Input variables fuzzification, fuzzy rules and output set defuzzification are described. Quality of control is concerned for different surge speeds. Some c...

This paper describes the capability, design and application of the generic underwater warfare simulation environment ODIN. The model was developed by QinetiQ, previously DERA (Defence Evaluation and Research Agency), to model the detailed underwater interaction between surface ship/submarine/UUV (Unmanned Underwater Vehicle) platforms, torpedoes and countermeasures. It was originally developed ...

It is an auspicious time for this first-ever ISRR special session on the topic of underwater robotics. Underwater robots are now performing high-resolution acoustic, optical, and physical oceanographic surveys in the deep ocean that previously were considered impractical or infeasible. For example: in 2001 the Argo II underwater robotic vehicle, [1], was employed to discover the first off-axis ...