https://users.encs.concordia.ca/~ymzhang/publications/ARC32-2-98Zhang_pp.229-252.pdf

Bibliographical review on reconfigurable fault-tolerant control systems

Unmanned surface vehicles: An overview of developments and challenges

During the 1990s, numerous worldwide research and development activities have occurred in underwater robotics, especially in the area of autonomous underwater vehicles (AUVs). As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for and use of underwater robotic systems has become more apparent. Great efforts have been made in developing AUVs to overcome challenging scientific and engineering problems caused by the unstructured and hazardous ocean environment. In the 1990s, about 30 new AUVs have been built worldwide. With the development of new materials, advanced computing and sensory technology, as well as theoretical advancements, R&D activities in the AUV community have increased. However, this is just the beginning for more advanced, yet practical and reliable AUVs. This paper surveys some key areas in current state-of-the-art underwater robotic technologies. It is by no means a complete survey but provides key references for future development. The new millennium will bring advancements in technology that will enable the development of more practical, reliable AUVs.

Design and Control of Autonomous Underwater Robots: A Survey

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Guidance And Control Of Ocean Vehicles

This paper addresses mechanics, design, estimation and control for aerial grasping. We present the design of several light-weight, low-complexity grippers that allow quadrotors to grasp and perch on branches or beams and pick up and transport payloads. We then show how the robot can use rigid body dynamic models and sensing to verify a grasp, to estimate the the inertial parameters of the grasped object, and to adapt the controller and improve performance during flight. We present experimental results with different grippers and different payloads and show the robot's ability to estimate the mass, the location of the center of mass and the moments of inertia to improve tracking performance.

Design, modeling, estimation and control for aerial grasping and manipulation

A lumped parameter model of open-frame unmanned underwater vehicles (UUV's) including the effects of propeller-hull and propeller-propeller interactions is presented. The identification of the model parameters consists of a least squares method using only on-board sensor data without requiring any towing tank tests. The identification scheme is based on separate tests for the estimation of drag and thruster installation coefficients, taking into account propeller-hull and propeller-propeller effects first and inertia parameters subsequently. The scheme has been experimentally implemented on ROMEO, the latest UUV developed by CNR-IAN. Experimental results show both the effectiveness of the proposed method and the relevance of the propeller-hull and propeller-propeller interactions that are usually neglected in standard UUV models.

Modeling and identification of open-frame variable configuration unmanned underwater vehicles

This paper discusses the navigation, guidance and control (NGC) system of an Unmanned Surface Vehicle (USV) through extended at sea trials carried out with the prototype autonomous catamaran Charlie. In particular, experiments demonstrate the effectiveness, both for precision and power consumption, of extended Kalman filter and simple PID guidance and control laws to perform basic control tasks such as auto-heading, auto-speed and straight line following with a USV equipped only with GPS and compass.

Basic navigation, guidance and control of an Unmanned Surface Vehicle

This paper presents the system design, sea trials and Antartic exploitation of the SESAMO platform. The SESAMO (sea surface autonomous modular unit) prototype robot was especially designed to collect data and samples for the study of the sea-air interface. At sea, operations showed that a relatively simple robot could satisfactorily work in a natural, outdoor environment, dramatically facilitating the job of the human operator. To achieve high quality sampling of the surface microlayer, however, requires a large amount of time, leading to significant demands on logistics resources, mainly in terms of operating time of the support vessel.

/pdf/sampling-sea-surfaces-with-sesamo-an-autonomous-craft-for-1yrkdndss9.pdf

Massimo Caccia

Papers

Modeling and identification of open-frame variable configuration unmanned underwater vehicles

Basic navigation, guidance and control of an Unmanned Surface Vehicle

Sampling sea surfaces with SESAMO: an autonomous craft for the study of sea-air interactions

Fault detection of actuator faults in unmanned underwater vehicles

Guidance and control of a reconfigurable unmanned underwater vehicle