This paper addresses the modular design of an underwater biomimetic vehicle-manipulator systems (UBVMS) propelled by undulatory fins. Motivated by the cuttlefish, which can perform flexible motions by undulatory propulsion in narrow spaces, our UBVMS with two undulatory fins is designed. The specific implementation of mechanical structure is detailed. In particular, the design philosophy of mod...

| An adaptive control law for the end-e ector tracking problem of underwater vehicle-manipulator systems is presented in this paper. By exploiting the serialchain multibody mechanical structure, the overall control problem is decomposed in a set of elementary control problems, each of them formulated with respect to a single rigid body in the system. The proposed approach results in a modular c...

A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This designed to significantly increase the level automation manipulative operations, by building motion trajectories a manipulator working tool along surfaces work objects basis target indications given operator. achieved as follows: The operator targets camera (with changeable spatia...

A robust teleoperation controller design method for an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control schem...

Despite major advances in autonomous vehicle technologies, humancontrolled ROVs (remotely-operated vehicles) continue to fill an important role in underwater work. To perform effectively, however, the human operator requires meaningful cues for spatial orientation, good workspace visibility, and tight feedback about manipulator behavior. These needs can be hard to support in actual undersea ope...

This paper describes a control system for the kinematic variables of an underwater vehicle. Control of underwater vehicles is not simple, mainlys due to the nonlinear, coupled and unknown character of system equations and dynamics. The proposed methodology makes use of a pioneering algorithm implemented for the first time in an underwater vehicle, and it is based on the fusion of a sliding mode...

For a mobile manipulator to be used in areas such as offices and houses, it is desirable that the mobile platform be small sized. In the case of a small-sized platform, the mobile manipulator may tip over when moving at high speed or executing tasks in the presence of disturbances. Therefore, it is necessary to simultaneously consider both stabilization and manipulation while coordinating vehic...

This paper presents the design of a new type search and rescue remotely operated vehicle (ROV) system. The goal is to achieve underwater target detection small capture operation requirements. First, overall whole surface system layout propulsion are given. On this basis, ROV frame structure, electronic cabin, power cabin designed analyzed. To accomplish grasping task, hand based on multifunctio...