In the paper the conception of identification of underwater like mines objects was presented basis on images of underwater area. Methods of preliminary processing of images acquired by underwater vehicle and a method of seeking chosen elements on these images and their identification at using the Hougha transform were described. Moreover the results of preliminary processing and the results of ...

It is an auspicious time for this first-ever ISRR special session on the topic of underwater robotics. Underwater robots are now performing high-resolution acoustic, optical, and physical oceanographic surveys in the deep ocean that previously were considered impractical or infeasible. For example: in 2001 the Argo II underwater robotic vehicle, [1], was employed to discover the first off-axis ...

This article discusses a control architecture for autonomous sailboat navigation and also presents a sailboat prototype built for experimental validation of the proposed architecture. The main goal is to allow long endurance autonomous missions, such as ocean monitoring. As the system propulsion relies on wind forces instead of motors, sailboat techniques are introduced and discussed, including...

This thesis examines the design and implementation of a vision system for an autonomous underwater vehicle. The vision system consists of three cameras, two being a stereo pair, and the third being attached to a pan/tilt unit to allow it to track moving targets. The goals for the development of the vision system were to: • Design and build all of the hardware for the vision system. The main foc...

A comparative study for the automatic control of an underwater vehicle has been conducted. The vessel had only three thrusters for the control of its position, something that made the problem very difficult. Furthermore the system is highly non-linear. A control system has been simulated for the regulation of the marine thrusters so that they stabilize the vehicle at a desired position, irrespe...

The objective of this paper is to present a downsized prototype of an Autonomous Underwater Vehicle (AUV) designed with the idea of dealing with cooperative tasks involving multiple agents. The entire system has been designed for marine and underwater environmental surveillance and protection. The agents provide an interesting point in the surveillance of shallow coastal waters and shallow wate...

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points with guaranteed input and state constraints (i.e obstacle avoidance, workspace boundaries). The proposed scheme incorporates the full dynamic...

This dissertation concerns modelling the dynamics of underwater gliders and application of the model to analysis of glider dynamics, control, navigation, and design. Underwater gliders are a novel type of autonomous underwater vehicle that glide by controlling their buoyancy and attitude using internal actuators. We develop a first principles based model of the dynamics of a general underwater ...

The moth-inspired plume-tracing strategies on a single REMUS underwater vehicle successfully tracked a Rhodamine dye plume over 100 m and declared its source location in near-shore ocean environments that are characterized by turbulence, tides, and waves. This paper expands moth-inspired plume tracing via a single vehicle to multiple vehicles. The new strategy includes a mechanism determining a...

The Decavitator is a human-powered hydrofoil water vehicle designed for the fastest-possible speed over short distances. Since 1988, numerous versions of the underwater hydro-foil system, control and stability system, and pontoons were built and tested. In its present connguration, the vehicle consists of two kayak-type pontoons, with a central frame supporting the rider and the large air prope...