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This paper presents the development of a bio-inspired swimming robot from concept design to simulation for marine aquaculture applications. Based on investigation of several fish motions, the Manta ray is found to be the most suitable mock object since the flapping pectoral fin features long-endurance, low noise, high payload capacity, good stability and maneuverability. Through a comprehensive analysis...
Multifunctional hybrid glider(MHG) is a new type of platform for ocean observation, integrating the concept of underwater glider and wave glider. The implementation scheme of its motion mechanism is proposed in this paper, and with the rubber webbed wings introduced and the structure redesigned, this vehicle can glide on the ocean surface and in the vertical profile. This can overcome the shortcomings...
This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for Systems and Robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine...
Underwater robots such as AUVs may work in different depth. In many cases, they need to maintain certain depth, which can be achieved through cooperation of rudders and propellers. However, this is quite energy-consuming process because the propellers and rudders have to keep working. In this article, a novel hydraulic buoyancy adjustment module(BAM) for underwater robot is proposed. The mechanical...
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new...
A new small-sized autonomous surface vehicle actuated by a water-jet has been developed at INESC TEC for search and rescue of victims at sea. This paper describes the vehicle main components and presents the control and guidance laws governing the motion and enabling it to perform line-following and target tracking missions. Results from field trials are presented, demonstrating the capabilities and...
Flooding disasters have led to heavy costs including enormous property losses and casualties. The biggest challenge lies in rescue operation is the low efficiency and the high security risk of rescuers, which is also a problem focused on by this work. Unmanned system is one of the solution that replace people in the rescue operation. However, there are still some obvious defects of unmanned system...
The paper presents a real-time and reliable communication system for a newly developed hybrid underwater robotic vehicle (HURV). The surface monitoring station of the HURV is linked with the onboard underwater control system by a fine and neutral buoyance fiber, which enables the state monitoring and tele-operation mode of the vehicle based on the industrial Ethernet Modbus/TCP via the fiber-optic...
This paper will describe a compact energy generation and storage system to harvest temperature differentials in the ocean. This is a unique power source underwater in the absence of solar and wave energy. The current state-of-the-art autonomous underwater vehicles and sensors are mostly powered by primary battery, and therefore have limited capacity and lifetime. Harvesting the ocean thermal energy...
One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical...
This paper presents some of the results of the EU-funded project PANDORA — Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted...
This paper presents a bilateral control method of teleoperation for the underwater's complex and dangerous environment. The fuzzy adaptive impedance control is applied to the master robot, the integral sliding mode control is applied to the slave robot. The master and slave robot state observers are designed for the unknown interference. The ratio tracking in force and position from the master robot...
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