permanent magnet synchronous motors are efficient motors, which have widespread applications in electric industry due to their noticeable features. one of the interesting applications of such motors is in underwater vehicles. in these cases, reaching to minimum volume and high torque of the motor are the major concern. design optimization can enhance their merits considerably, thus reduce volum...

The applications of underwater vehicles have shown a dramatic increase in recent years, such as, mines clearing operation, feature tracking, cable or pipeline tracking and deep ocean exploration. According to different applications, the mechanical and electrical configuration and shape of an underwater vehicle are different. For instance, manipulators are necessary when doing mines clearing ope...

The development of two new classes of commercial underwater robotic vehicles – deep diving work-class remotely operated vehicles and survey-class autonomous vehicles – is being driven by the needs of deep water oil production and deep ocean telecommunication cable operations. This paper presents a survey of the present state and future directions of commercial underwater robotics, examines prin...

Underwater cameras are widely used to observe the sea floor. They are usually included in autonomous underwater vehicles (AUVs), unmanned underwater vehicles (UUVs), and in situ ocean sensor networks. Despite being an important sensor for monitoring underwater scenes, there exist many issues with recent underwater camera sensors. Because of light’s transportation characteristics in water and th...

This paper describes a virtual collaborative world simulator, DVECS (Distributed Virtual Environment Collaborative Simulator), for underwater robots and its underwater vehicle, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). DVECS is used for testing unmanned underwater vehicles (UUVs) of both real and simulated worlds where interaction and cooperation of other real and s...

Underwater vehicles have been extensively applied to underwater intervention missions instead of human in recent years. As the crucial equipment of underwater vehicles, underwater manipulators typically play an important role in the underwater tasks. Generally, underwater manipulators are operated manually by human with remotely operated vehicles (ROVs). A KORDI ROV with a dual teleoperated man...

Coefficients or hydrodynamic derivatives of autonomous underwater vehicles play a key role in their development. The most popular way for the estimation of coefficient is to implement captive model tests such as straight line tests and planar motion mechanism tests in towing tanks. In this paper, investigation of hydrodynamic derivatives was performed based on the water tunnel maneuvers. Forces...

We present two reduced-dimensional, noncanonical Hamiltonian models for a neutrally buoyant underwater vehicle coupled to an internal moving mass. It is expected that these models will be useful in designing nonlinear control laws for underwater gliders as well as for spacecraft, atmospheric re-entry vehicles, and other vehicles which use internal moving mass actuators. To illustrate, we invest...

In this paper some selected aspects of both reliability and safety with respect to underwater vehicles, particularly underwater remotely operated vehicles (ROVs) are dealt with. A Man-Technology-Environment system is presented. A reliability-related structure and the system of such a vehicle is discussed and the issue of selecting a reliability level is deliberated.