As part of a continuous research and development of underwater robotics technology at ITB, a visionbased distance measurement system for an Unmanned Underwater vehicle (UUV) has been designed. The proposed system can be used to predict horizontal distance between underwater vehicle and wall in front of vehicle. At the same time, it can be used to predict vertical distance between vehicle and th...

To understand the physical and biological relationships often requires high resolution sampling far exceeding present capabilities. If spatially adaptive sampling can be developed, data resolution can be greatly improved over that presently possible with conventional sensor platforms. One technique to achieve both spatially and temporally adaptive sampling is an Autonomous Oceanographic Samplin...

Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm...

This thesis describes the design, modeling, manufacture, and testing of a low cost, multiple degree-of-freedom underwater manipulator. Current underwater robotic arm technologies are often expensive or limited in functionality. The goal of this research is to produce a multiple degree-of-freedom manipulator utilizing relatively inexpensive, commercial off-the-shelf servo motors. This project is...

This paper surveys the problem of navigation for autonomous underwater vehicles (AUVs). Marine robotics technology has undergone a phase of dramatic increase in capability in recent years. Navigation is one of the key challenges that limits our capability to use AUVs to address problems of critical importance to society. Good navigation information is essential for safe operation and recovery o...

The focus of this research was automatic visual tracking of realistic underwater objects. Powerful real-time ltering and correlation hardware was used to generate fullimage range and velocity maps at frame rates. These maps were in turn processed to provide object centroid position and rate. The object tracking system was tested experimentally on an underwater robotic vehicle, and qualitative r...

In the paper a fuzzy control system to steering of unmanned underwater vehicle is considered. Underwater objects, which operate beneath surface of water, very often are exposed to disturbances of its movement from a sea current. In case of lack of sea current measurement devices on the board they can not counteract it by generating contrary thrust. A method of evaluation of influence of environ...

Currently a platform to investigate the underwater environment is required. In this paper, we propose an autonomous underwater vehicle (AUV) with an accurate positioning system. The positioning system is developed to be accurate enough to utilize the superior navigation ability of our AUV feature. The navigation ability is acquired by the variable vector propeller mechanism. The accurate positi...