In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external disturbances (e.g. sea currents and waves) iii) imperfection and noises of measuring sensors iv) steady state performance as well as v) inferior overshoot of inter...

The current work focuses on the development of a comprehensive scheme for the coordinated control of remotely operated vehicle–manipulator (ROVM) systems, and it proposes a novel mode for their operation. The proposed scheme consists of 2 main stages: redundancy resolution, and and robust model based control. In the redundancy resolution stage, the end-effector input commanded by a human pilot ...

This paper presents a novel visual feature based scene mapping method for underwater vehicle manipulator systems (UVMSs), with specific emphasis on robust in natural seafloor environments. Our uses GPU accelerated SIFT features graph optimization framework to build map. The map scale is constrained by from mounted stereo camera, and we exploit the dynamic positioning capability of system fusing...

Performing subsea intervention tasks is a challenge due to the complexities of the underwater domain. We propose to use a learning by demonstraition algorithm to intuitively teach an intervention autonomous underwater vehicle (IAUV) how to perform a given task. Taking as an input few operator demonstrations, the algorithm generalizes the task into a model and simultaneously controls the vehicle...

There are many harmful marine organisms, such as starfishes, in underwater environments. Underwater task to eliminate such organisms by divers is dangerous and inefficient. This paper proposes a novel remotely operated vehicle (ROV) platform for a robotic application to capture harmful marine organisms. The proposed underwater robotic platform has four rotatable thrusters for hovering motion ag...

in the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. in this study, hydrodynamic coefficients of an autonomous un...