This paper describes the design and implementation of a Mission Control System for the MARIUS Autonomous Underwater Vehicle (AUV). The framework adopted for system design builds on the key concept of Vehicle Primitive, which is a parameterized specification of an elementary operation performed by the vehicle. Vehicle Primitives are obtained by coordinating the execution of a number of concurren...

good dynamics model is essential and critical for the successful design of navigation and control system of an underwater vehicle. However, it is difficult to determine the hydro-dynamics forces, especially the added mass and the drag coefficients. In this paper, a new experimental method has been used to find the hydrodynamics forces for the ROV II, a remotely operated underwater vehicle. The ...

The integrated maneuver and control structures for a Remotely Operated Vehicle are presented in the context of the developments of ”IES Inspection of Underwater Structures” project. The project concerns the design and implementation of an advanced low cost system for the inspection of underwater structures based on a Remotely Operated Vehicle (ROV). First, the sub-systems of the IES system are ...

Autonomy of an underwater vehicle is in the main attributable to the design of a suitable guidance and control system. Generally, the control system is developed and tested first in simulation studies using a model of the vessel to gain confidence in the approach being adopted. Therefore, plant identification is imperative to gain insight about the system. This paper is concerned with a practic...

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...

Marine-vehicle manipulators, which represent a kind of mechanical systems installed on marine surface or underwater vehicles, are mostly suffering from the problem waves (or ocean currents)-caused base oscillations. The oscillations have significant impact system stability. Numerous control strategies been investigated, but majority them concentrated control’s robust performance. This study foc...

High performance robot control algorithms often rely on system physical models. For field robots, the dynamic parameters of these physical models may not be well known. This paper presents a new information based performance metric for the on-line dynamic parameter identification of a multi-body system. The metric is used in an algorithm to optimally regulate the external excitation required by...

This paper presents a novel Image-Based Visual Servoing (IBVS) control approach for Floating Base Mobile Manipulator Systems (FBMMSs) that imposes prescribed transient and steady-state response on the image feature coordinate errors while satisfying visibility constraints arise owing to camera’s limited field of view. The proposed strategy does not incorporate any knowledge either FBMMS dynamic...

There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental pro...