Nuclear reactors require periodic maintenance and inspection to ensure continued and safe operations, and automation of inspection tasks through robotics can minimize the duration of reactor inspection outages in a safe and costeffective manner. State-of-the-art reactor pressure vessel inspection leverages remotely operated vehicles (ROVs), which are teleoperated, submersible robots. In order t...

Early detection of marine invasive species is key for mitigating and managing their impacts to ecosystems industries. Human divers are considered the gold standard tool detecting species, especially when dive teams familiar with local biodiversity. However, diver operations can be expensive dangerous, not always practical. Remote operated vehicles (ROVs) potentially overcome these limitations, ...

Decapod crustaceans were studied in the Marquesas Islands, French Polynesia, between 50–550 m by using a remotely operated vehicle (ROV) equipped with high resolution cameras and an articulated arm. Careful examination of videos and photographs combined with previous inventories made in the area with conventional gears allowed the identification of 30 species, including 20 species-level determi...

Gelatinous organisms apparently play a central role in deep pelagic ecosystems, but lack of observational methodologies has restricted information on their behaviour. We made acoustic records of diel migrating jellyfish Periphylla periphylla forming small, ephemeral groups at the upper fringe of an acoustic scattering layer consisting of krill. Groups of P. periphylla were also documented photo...

This paper presents the design and experimental implementation of the L1 adaptive controller on a tethered underwater vehicle. This controller, well known for its fast adaptation and its robusntess, is for the first time applied in the field of underwater vehicle control. This paper summarizes the implementation and experimental results obtained on a modified version of the AC-ROV underwater ve...

Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV‐based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition...

In this paper we present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maint...

The article considers the issues of development a smart system for supporting activities ROV operators and its practical implementation efficient operation Comanche 18 that is based on R/V Akademik M.A. Lavrentiev. uses algorithms provide coordinated movements depressor unit. These are designed ROVs to make synchronous, accurate, accident-free along long-distance routes even when launched from ...