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This paper introduces a novel fault diagnosis system of thruster for open-frame underwater vehicles (UV). Basically, the fault diagnosis system is a control allocator, but this primary function is enhanced with the ability of automatic thruster fault detection and diagnosis. The proposed fault diagnosis system consists of two subsystems: a underwater vehicle motion condition monitoring subsystem and...
This paper presents a kind of wheeled mobile robot, which adopted the architecture of two wheels differential drive and multilayer stack mechanical structure and used a special embedded computer PC/104 as the kernel of the robot motion control system, and the good openness and expandability of this architecture will avail the further development. The traditional angular speed control of a wheeled...
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