Submerged marine investigation still remains a puzzle. The motivation behind this paper is to address the issues in plan and improvement of submerged vehicles with hindrance shirking and moving help for administrator in marine condition utilizing fluffy rationale controller. A symmetrical, practical and little measured submerged Remotely Operated Vehicle (ROV) with three thrusters is intended f...

This article focuses on passive self-management of the umbilical a Remotely Operated Vehicle (ROV) for underwater exploration. The goal is to give predictable shape umbilical, using moving ballasts and buoys stretch so avoid entanglement cable itself or with surrounding obstacles. move by themselves maintain taut without motorized system. A model proposed. presence waves, as well thecases curre...

Marine litter is a growing threat to the marine environment. Mapping of becoming increasingly important detect its potential hotspots and prevent their spread. In this paper, applicability multibeam echo sounder (MBES) WASSP S3 remotely operated underwater vehicle (ROV) Chasing M2 was tested in detection mapping on seafloor within wider area St. Ante Channel (Šibenik, Croatia). Also, precision ...

This work describes optimization of a field-tested jelly tracking system to enable AUV deployment under tight energy constraints. Inspired by research in marine biology, the task of long duration jellyfish tracking poses both an opportunity and a significant challenge for the AUV community. AUVs offer the potential for extended midwater deployments, enabling observation of natural phenomena dur...

Recent ROV (Remotely Operated Vehicle) exploration and bottom sampling in the southern Adriatic Sea (Apulian and Montenegrin margins) resulted in the discovery of cnidarian-rich deep-sea habitats in the depth range of ca. 400-700 m. In particular, ROV inspection of Montenegrin canyons reveals the existence of megabenthic communities dominated by a variety of cnidarians, including scleractinians...

This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A...

Smaller autonomous underwater vehicles that use differential thrust for surge and yaw motion control has the advantage of low cost and, at the same time, increased ma­ neuverability in yaw direction. However, since such vehicles are underactuated vehicles, design of an autonomous control system that enables the vehicle to autonomously track a predefined trajectory is challenging. In this paper,...