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Luis G. Garcia-Valdovinos2
Estimated H-index: 2
,
Tomás Salgado-Jiménez2
Estimated H-index: 2
,
Manuel Bandala-Sanchez2
Estimated H-index: 2
... (3 others)
Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic...
Ref 31Cited 153 Download Pdf Cite this paper
2016 in Control Engineering Practice [IF: 2.60]
Massimo Caccia20
Estimated H-index: 20
(National Research Council),
R. Bono1
Estimated H-index: 1
,
G. Bruzzone3
Estimated H-index: 3
... (1 others)
Abstract This paper addresses the problem of designing high-precision bottom-followers for remotely operated vehicles. In the framework of hierarchical control architectures able to uncouple the robot's kinematics (guidance) and dynamics (velocity control), the task of bottom-following is accomplished by suitable guidance task functions, which enable the system to handle unmodeled, i.e. not measur...
Ref 9Cited 44 Source Cite this paper
Wallace M. Bessa8
Estimated H-index: 8
(Federal University of Rio Grande do Norte),
Max Suell Dutra8
Estimated H-index: 8
(Federal University of Rio de Janeiro),
Edwin Kreuzer16
Estimated H-index: 16
(Hamburg University of Technology)
Sliding mode control, due to its robustness against modelling imprecisions and external disturbances, has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In order to improve the performance of the complete system, the discontinuity in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of a properly designed...
Ref 18Cited 103 Source Cite this paper
K.R. Goheen1
Estimated H-index: 1
(Carleton University),
E.R. Jefferys1
Estimated H-index: 1
The effectiveness of subsea intervention has been found to be dependent upon the capability of an autonomous underwater vehicle's (AUV's) or remotely operated underwater vehicle's (ROV's) auto-positioning system. However, these vessel's dynamics vary considerably with operating condition, and are strongly coupled; they are expensive and difficult to derive, theoretically or through conventional te...
Ref 7Cited 104 Source Cite this paper
R. Bachmayer1
Estimated H-index: 1
,
Susan E. Humphris36
Estimated H-index: 36
(Woods Hole Oceanographic Institution),
D. J. Fornari12
Estimated H-index: 12
(Woods Hole Oceanographic Institution)
... (6 others)
This paper describes three 6000 meter tethered underwater vehicles - DSL-120 sonar, ARGO II mapping system and Jason/Medea remotely operated vehicle - used during the summer of 1996 for an oceanographic expedition to investigate hydrothermal vent sites at the "Lucky Strike" segment (37°N 32°W) of the Mid-Atlantic Ridge as part of the RIDGE (Ridge Inter-Disciplinary Global Experiment) Initiative (R...
Ref 6Cited 106 Download Pdf
Junku Yuh25
Estimated H-index: 25
(University of Hawaii),
Ranganath Lakshmi1
Estimated H-index: 1
(University of Hawaii)
The application of a neural network controller to remotely operated vehicles (ROVs) is described. Three learning algorithms for online implementation of a neural net controller are discussed with a critic equation. These control schemes do not require any information about the system dynamics except an estimate of the inertia terms. Selection of the number of layers in the neural network, the numb...
Ref 21Cited 43 Source Cite this paper
Maria Letizia Corradini21
Estimated H-index: 21
(University of Camerino),
Andrea Monteriù9
Estimated H-index: 9
(Marche Polytechnic University),
Giuseppe Orlando20
Estimated H-index: 20
(Marche Polytechnic University)
This paper proposes an actuator fault-tolerant control scheme, composed of the usual modules performing detection, isolation, accommodation, designed for a class of nonlinear systems, and then applied to an underwater remotely operated vehicle (ROV) used for inspection purposes. Detection is in charge of a residual generation module, while a sliding-mode-based approach has been used both for ROV c...
Ref 35Cited 41 Source Cite this paper
Liu Hsu30
Estimated H-index: 30
(Federal University of Rio de Janeiro),
Ramon R. Costa18
Estimated H-index: 18
(Federal University of Rio de Janeiro),
Fernando Lizarralde17
Estimated H-index: 17
(Federal University of Rio de Janeiro)
... (1 others)
The paper describes an automatic dynamic positioning system for remotely operated underwater vehicles (ROVs) using a mechanical passive arm for position measurement that is suitable for inspection and intervention tasks requiring precise positioning. Good dynamic performance in tracking was also attained, particularly with the variable structure model reference adaptive control strategy.
Ref 27Cited 45 Source Cite this paper
Fadilah Abd Azis2
Estimated H-index: 2
(Universiti Teknikal Malaysia Melaka),
Mohd Shahrieel Mohd Aras10
Estimated H-index: 10
(Universiti Teknikal Malaysia Melaka),
Mohd Zamzuri Ab Rashid6
Estimated H-index: 6
(Universiti Teknikal Malaysia Melaka)
... (2 others)
Abstract This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the problem identification that found after research done on several literature reviews and study cases. In this paper, the major problem statements will be discussed in details such as control system, underactuated condition, pose recovery or station keepi...
Ref 15Cited 27 Source Cite this paper
2016 in Geology [IF: 4.63]
Peter G. Brewer53
Estimated H-index: 53
(Monterey Bay Aquarium Research Institute),
Franklin M. Orr36
Estimated H-index: 36
(Stanford University),
Gernot E. Friederich34
Estimated H-index: 34
(Monterey Bay Aquarium Research Institute)
... (4 others)
We have observed the process of formation of clathrate hydrates of methane in experiments conducted on the remotely operated vehicle (ROV) Ventana in the deep waters of Monterey Bay. A tank of methane gas, acrylic tubes containing seawater, and seawater plus various types of sediment were carried down on Ventana to a depth of 910 m where methane gas was injected at the base of the acrylic tubes by...
Cited 68 Download Pdf Cite this paper