Proceedings ArticleDOI
Design of a semi-autonomous underwater vehicle for intervention missions (SAUVIM)
Junku Yuh,S.K. Choi,C. Ikehara,G.H. Kim,G. McMurty,Mehrdad N. Ghasemi-Nejhad,Nilanjan Sarkar,K. Sugihara +7 more
- pp 63-68
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TLDR
In this paper, a semi-autonomous underwater vehicle for intervention missions (SAUVIM) is presented, which allows human intervention from a land-based computer system capable of vehicle path-planning and monitoring.Abstract:
As the research in the autonomous underwater vehicle (AUV) field intensifies and the necessity of underwater robotic vehicles (URVs) increases, the requirements of an URV have expanded from simple fly-by missions to more complex, intervention missions. The Autonomous Systems Laboratory, Department of Mechanical Engineering, University of Hawaii is in the midst of designing and developing a semi-autonomous underwater vehicle for intervention missions (SAUVIM). The proposed open structure AUV possesses a fully functional manipulator, various mission sensors, and composite pressure vessels enclosed in a flooded composite fairing. The vehicle allows human-intervention from a land-based computer system capable of vehicle path-planning and monitoring.read more
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Journal ArticleDOI
Underwater autonomous manipulation for intervention missions AUVs
TL;DR: One of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment is described, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.
Journal ArticleDOI
Underwater manipulators: a review
TL;DR: A comprehensive summary of existing commercial and prototype underwater manipulators, covering relevant aspects such as design features, their capabilities and merits, and a detailed comparison of both electrically and hydraulically actuated manipulators are provided.
Journal ArticleDOI
Floating Underwater Manipulation: Developed Control Methodology and Experimental Validation within the TRIDENT Project
TL;DR: Both simulations and experimental trials are successively presented to show how the developed TRIDENT I-AUV system is able to properly exploit all the redundant degrees of freedom for achieving all the established objectives.
Journal ArticleDOI
Experimental study on advanced underwater robot control
Side Zhao,Junku Yuh +1 more
TL;DR: This paper presents the theory and experimental work of the adaptive plus disturbance observer (ADOB) controller for underwater robots, which is robust with respect to external disturbance and uncertainties in the system.
Book
Relative position sensing by fusing monocular vision and inertial rate sensors
Stephen M. Rock,Andreas Huster +1 more
TL;DR: In this article, the authors developed a robust, relative position sensing strategy suitable for unstructured and unprepared underwater environments, which is based on fusing bearing measurements from computer vision and inertial rate sensor measurements to compute the relative position between a moving observer and a stationary object.
References
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Journal ArticleDOI
Development of the Omni Directional Intelligent Navigator
TL;DR: Omni-Directional Intelligent Navigator's mechanical and electrical specifications; its vehicle dynamics and depth control system; its recent simulation and experimental results; and IGW's specifications are presented.