The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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...
Considering variable payload and uncertainty of model, a sliding mode control scheme is proposed to realize a deep-sea manipulator control with high precision. The control principle is based on the exponential approach law. A saturation function is introduced to solve the problem of chattering. A novel and simple self-adaptive regulation method is used to improve the velocity of approaching. Under...
In this paper, a new motion control scheme is presented for an underwater vehicle-manipulator system (UVMS). The system is composed of a six degree-of-freedom (DOF) autonomous underwater vehicle (AUV) and an n robot manipulator that is mounted on the AUV. We use Quasi-Lagrange formulation to gain the model of UVMS, which considers major hydrodynamic effects. A sliding mode controller is designed to...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.