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Virtual submerged floating operational system (VSFOS), built in the laboratory environment, consisted of an ABB robot, the IRC5 controller, a six-degrees-of-freedom (6DOF) parallel robotic motion platform, an inertial navigation sensor and a real-time industrial computer, can make it possible to do all kinds of underwater operational simulation experiments very easily and expediently. In this paper,...
In this paper, a virtual submerged floating operational system (VSFOS) for simulated underwater operational interventions is presented, in which a six-degrees-of-freedom (6DOF) parallel robotic motion platform is used to simulate the environmental disturbances of the ocean currents, an ABB manipulator mounted on the 6DOF platform represents the operational interventions in the sea, an inertial navigation...
In this paper, we present a new small autonomous underwater vehicle (AUV) called Taipan 300. First, we detail its technical features. Then, we explain how the particular hardware design of this vehicle makes its recovery easier in case of software or hardware failure. In fact this prototype offers enhanced safety measures in order to detect computer failure and to facilitate vehicle localization after...
The purpose of this paper is to present Thetis: a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In Loop (HIL) simulations including virtual sensors which allow to provide a representation of a virtual world, and including the support of communication devices. The architecture of this simulator is conceived so that it ensures a temporal decoupling...
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