This paper presents a cooperative manipulation method for dual-arm underwater vehicle-manipulator system (UVMS). The objective task is handle valve turning, which common task. We propose that includes the concept of grasping fixed structure such as pipeline. While and valve, entire can be considered parallel manipulator. Because kinematic properties system, load turning distributed between vehi...

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 ...

Abstract The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity perform tasks autonomously. However, controlling both the and remotely operated (ROV) based on vision system information is not an easy task, especially in situations where cannot be parked/held stationary. Most existing approaches work complex matrix ca...

Purpose – Improvement of reverse supply chains requires accurate and timely information about the patterns of consumption. In the consumer context, the ways to generate and access such use-visibility data are in their infancy. The purpose of this study is to demonstrate how the Internet of Things (IoT) may be operationalised in the domestic setting to capture data on a consumer’s use of product...

The underwater vehicle-manipulator systems (UVMS) face significant challenges in trajectory tracking and motion planning because of external disturbance (current payload) kinematic redundancy. Former algorithms can finish the end-effector (EE) free singularity redundancy solution alone. However, only a few analytical studies have been conducted on coordinated UVMS considering dynamics controlle...

This paper has proposed a method of grasping a model-known object autonomously for an Underwater Vehicle-Manipulator System (UVMS) using monocular vision. The distance between the vehicle and the object is estimated by extracting the pixel radius of the ball-like object, and the vehicle’s depth and orientation angle are used to keep the vehicle’s station while the manipulator is performing the ...

Unmanned vehicle (UxV) operations for Mine Countermeasures (MCM) offer the benefit of removing operators from minefields but pose unique operational challenges. On the Littoral Combat Ship (LCS), MCM UxV operations are performed by a team of up to seven operators and consist of multiple UxV systems, including vehicles (e.g., the Unmanned Surface Vehicle (USV), and the Remote Multi-Mission Vehic...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....