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Zhenzhong Chu1
Estimated H-index: 1
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Daqi Zhu10
Estimated H-index: 10
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Simon X. Yang35
Estimated H-index: 35
This paper focuses on the adaptive trajectory tracking control for a remotely operated vehicle (ROV) with an unknown dynamic model and the unmeasured states. Unlike most previous trajectory tracking control approaches, in this paper, the velocity states and the angular velocity states in the body-fixed frame are unmeasured, and the thrust model is inaccurate. Obviously, it is more in line with the actual ROV systems. Since the dynamic model is unknown, a new local recurrent ...
Ref 32Cited 42
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Luis G. Garcia-Valdovinos2
Estimated H-index: 2
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Tomás Salgado-Jiménez2
Estimated H-index: 2
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Manuel Bandala-Sanchez2
Estimated H-index: 2
... more
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 control, ROV state feedback is provided by acoustic and inertial sensors and t...
Ref 31Cited 171 Source Cite this paper
Maria Letizia Corradini21
Estimated H-index: 21
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Andrea Monteriù10
Estimated H-index: 10
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Giuseppe Orlando21
Estimated H-index: 21
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 control and fault isolation, after the application of an input decoupling nonlin...
Ref 35Cited 42
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Romano Capocci2
Estimated H-index: 2
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Gerard Dooly9
Estimated H-index: 9
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Edin Omerdic9
Estimated H-index: 9
... more
This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs). The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are d...
Ref 80Cited 9
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Fadilah Abd Azis2
Estimated H-index: 2
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Mohd Shahrieel Mohd Aras10
Estimated H-index: 10
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Mohd Zamzuri Ab Rashid7
Estimated H-index: 7
... more
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 keeping, coupling issues and communication technique. ROV is one of the Unmanned Und...
Ref 15Cited 28
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Massimo Caccia20
Estimated H-index: 20
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R. Bono1
Estimated H-index: 1
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G. Bruzzone3
Estimated H-index: 3
... more
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 measured or estimated, kinematics interactions between the robot and the operating...
Ref 9Cited 44
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Alexander A. Dyda1
Estimated H-index: 1
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Dmitry A. Oskin1
Estimated H-index: 1
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Sauro Longhi27
Estimated H-index: 27
... more
Summary The paper is devoted to a new adaptive variable-structure system (VSS) control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of sliding mode parameter (SMP) in order to have adaptation in VSS. It is demonstrated that the extreme values of SMPs are directly associated with high efficiency of transient processes in VSS. The essence of the presented adaptation algorithm consists on the adjustment of switching surface parameters such that ...
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Brett Hobson9
Estimated H-index: 9
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Alana Sherman10
Estimated H-index: 10
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P. R. McGill11
Estimated H-index: 11
Abstract A commercially available, small (less than 100-kg), remotely operated vehicle (ROV) was modified to image and sample the marine ecosystem surrounding free-drifting icebergs east of the Antarctic Peninsula during three field expeditions in 2005, 2008 and 2009. Modifications included fitting the vehicle with an accessory tool sled, additional thrusters, flotation and significant changes to internal wiring to support a wide array of sensors and samplers. The ROV...
Ref 21Cited 23
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2016 in Dyna
Luis M. Aristizabal1
Estimated H-index: 1
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Santiago Rúa2
Estimated H-index: 2
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Carlos Gaviria1
Estimated H-index: 1
... more
This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and softwar...
Ref 34Cited 7
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Zhijun Li4
Estimated H-index: 4
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Chenguang Yang31
Estimated H-index: 31
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Nan Ding3
Estimated H-index: 3
... more
In this paper, robust adaptive control strategies are designed for Underwater Remotely Operated Vehicles (ROVs) with velocity constraints. First, robust control strategies are investigated for under-water ROVs, and then adaptive robust control strategies are further developed with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also gua...
Ref 23Cited 33
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