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In this paper, an invariant manifold approach is applied for controlling chained form systems with four inputs and six states. This type of systems includes VTOL (vertical take off and landing) aerial robots such as X4-flyer, AUVs (autonomous underwater vehicles) such as a longitudinal or lateral X4 -AUV, etc. The present underactuated control method is composed of a two step method: the first step...
The autonomous underwater vehicle "r2D4", constructed in 2003, is a cruising type AUV weighing 1,600 kgf with a length of 4.4 m. It is fitted with a side scanning sonar, an interferometry sonar, a CTDO, and an in-site chemical analyzer "GAMOS" for measurement of manganese concentration. The AUV "r2D4" has been deployed off Sado-ga-shima Island along a fault line in the...
In August 2005, we succeeded in operating AUV "r2D4", which was constructed in July 2003 as one of fruits of R-Two project, into Myojin-sho underwater Caldera in full autonomous mode. The caldera is located about 800 km in the south of Tokyo, and 8 km in diameter. There is an active underwater volcano Myojin-sho at the Northeastern part of outer rim of caldera, which erupted repeatedly in...
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