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Relevant bibliographies by topics / Underwater manipulator

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Academic literature on the topic 'Underwater manipulator'

Author: Grafiati

Published: 4 June 2021

Last updated: 6 February 2022

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Journal articles on the topic "Underwater manipulator"

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Dawidziuk, Marek, and Adam Olejnik. "General Construction and Classification of Manipulators for Underwater Vehicles." Polish Hyperbaric Research 63, no. 2 (2018): 10–17. http://dx.doi.org/10.2478/phr-2018-0009.

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Abstract The article presents the general construction of an underwater vehicle manipulator along with a discussion of the materials used in their construction. The types of drive systems used by the manipulator have been characterised, distinguishing their advantages and disadvantages. The functions of the manipulator are specified in relation to the activities performed by it. Moreover, the paper discusses the manipulator's degrees of freedom with the specification of the formula for their calculation. The basic types of end effectors are presented as well as an outline of the classification of manipulators in relation to the tasks carried out.

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Moon, Yecheol, Jongin Hong, Sangrok Jin, Jangho Bae, and TaeWon Seo. "Real-time UVMS torque distribution algorithm based on weighting matrix." PLOS ONE 16, no. 7 (2021): e0253771. http://dx.doi.org/10.1371/journal.pone.0253771.

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This study presents a real-time algorithm for even distributing the torque burden on the parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation of the AUV and manipulator. For the redundant resolution of the underwater vehicle manipulator system (UVMS), we used the weighting matrix of the weighted pseudo inverse for kinematic and dynamic modeling. We made dynamic and kinematic modeling using the force distribution characteristics of parallel manipulators. Using the parallel manipulator’s model, the weighting matrix was changed every second to share the manipulator torque with the AUV. The Taguchi method was used to reduce the calculation time for real-time calculation and to perform valve rotation operations with as little torque as possible even in an underwater environment where it is difficult to determine any cause of errors. To demonstrate the effectiveness of this algorithm, we experimented with valve rotation in water using the UVMS. Analysis of the experimental results revealed that the manipulator torque load was greatly reduced due to the AUV load distribution.

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Wang, Cai Dong, Hui Wang, and Lu Min Chen. "Working Space Analysis of 6-DOF Manipulator Based on MONTE-CARIO Method." Advanced Materials Research 482-484 (February 2012): 1925–28. http://dx.doi.org/10.4028/www.scientific.net/amr.482-484.1925.

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The working space of manipulator is an important dynamic index. Based on Monte-Carlo method, working space of the 6-DOF (degrees of freedom) underwater manipulator is analyzed in this paper. The virtual prototype of the manipulator is established. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator’s working space is bigger and has obtained better effect, which can meet the 6-DOF underwater manipulator operational requirements. The results provide an important reference for the 6-DOF underwater manipulator body design and trajectory planning.

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Wang, Junli, Shitong Wang, and Wenhao Leng. "Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator." Mathematical Problems in Engineering 2021 (February 22, 2021): 1–12. http://dx.doi.org/10.1155/2021/6656928.

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Work class remote operated vehicles (ROVs) are generally equipped with underwater manipulators and are widely used in underwater intervention and maintenance tasks. As the load of underwater operation is relatively heavy, most commercial underwater manipulators are hydraulically actuated and are not equipped with any sensor for joint angles to keep their architectures compact. Therefore, the automatic control methods widely used in industrial robots cannot be simply applied to underwater manipulators. In this paper, an estimation method on joint angles of manipulator is presented, in which several markers are arranged on the arm links and positioned from the corresponding cameras; consequently, the joint angles of the manipulator are estimated. The simulation results show that under typical optical vision positioning error (RMS: 5 mm), the positioning error of the end effector can be estimated as about 10 mm (RMS), which means that the proposed estimation method is feasible for the state estimation for automatic control of underwater manipulators.

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Takemura, Fumiaki, Reyes Tatsuru Shiroku, Kuniaki Kawabata, and Shinichi Sagara. "Development of Easy-Removable Underwater Manipulator Unit with Built-in Controller." Journal of Robotics and Mechatronics 25, no. 5 (2013): 778–84. http://dx.doi.org/10.20965/jrm.2013.p0778.

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In recent years, coral cover has been decreased by the impact of bleaching due to high water temperature, red-soil runoff, water pollution, and coral-eating starfish outbreak. It is necessary to appropriately measure, observe, and sample seawater. To succeed in these tasks, underwater robots should have a function of responds flexibly in solving problems. Underwater tasks are summarized as follows: (1) acquiring images and environmental information using cameras and sensors, (2) collecting objects and other necessary work using robot hands. Manipulator should be attached quickly to underwater robots as needed. So we have been developing “an easy-removable underwater manipulator.” The manipulators is easy to maintain because all electric components – DC motors, motor controllers, etc. – are in a pressure-resistant vessel, the manipulator has only one cable, and the manipulator is easy to attach and detach. In this paper, we illustrate the manipulator design and performance test results.

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Yusof, Ahmad Anas, Faizil Wasbari, and Mohd Qadafie Ibrahim. "Research Development of Energy Efficient Water Hydraulics Manipulator for Underwater Application." Applied Mechanics and Materials 393 (September 2013): 723–28. http://dx.doi.org/10.4028/www.scientific.net/amm.393.723.

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This paper presents research development of water hydraulicsmanipulator testrig for underwater application at Centre for AdvancedResearch on Energy, Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka. The test rig is designed in order to study the effectiveness of using water hydraulics system for underwater manipulation application. With objectives to promote sustainability and energy saving, the manipulator system is targeted for usage in an underwater scenario, possibly on small submarines or underwater remotely operated vehicles (ROVs).Underwater vehicles normally utilize the use of oil hydraulics for propulsion, manipulation and instrument control. The research on underwater manipulator that uses the surrounding sea water itself as the power and energy carrier for control is now possible with the current development in water hydraulics technology.

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Ambar, Radzi Bin, Shinichi Sagara, and Fumiaki Takemura. "2A2-M08 Development of Manipulator Joint for Underwater Vehicle-Manipulator System Using Neodymium Magnetic Coupling : Application on a 2-link manipulator(Underwater Robot and Mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _2A2—M08_1—_2A2—M08_4. http://dx.doi.org/10.1299/jsmermd.2013._2a2-m08_1.

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Cho, Gun-Rae, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim, and Ji-Hong Li. "Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks." Journal of Marine Science and Engineering 9, no. 5 (2021): 483. http://dx.doi.org/10.3390/jmse9050483.

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In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated experimentally. The key idea behind the assistance technique is to operate the manipulator by touching several points on the camera images. To implement the idea, the position estimation technique utilizing the touch inputs is investigated. The assistance technique is simple but significantly helpful to increase temporal efficiency of tele-manipulation for underwater tasks. Using URI-T, a cable burying ROV (Remotely Operated Vehicle) developed in Korea, the performance of the proposed assistance technique is verified. The underwater cable gripping task, one of the cable maintenance tasks carried out by the cable burying ROV, is employed for the performance evaluation, and the experimental results are analyzed statistically. The results show that the assistance technique can improve the efficiency of the tele-manipulation considerably in comparison with the conventional tele-operation method.

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Simetti, Enrico, and Giuseppe Casalino. "Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems." IEEE Journal of Oceanic Engineering 42, no. 4 (2017): 782–99. http://dx.doi.org/10.1109/joe.2016.2618182.

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Wang, Tong, Zihao You, Wei Song, and Shiqiang Zhu. "Dynamic Analysis of an Underwater Cable-Driven Manipulator with a Fluid-Power Buoyancy Regulation System." Micromachines 11, no. 12 (2020): 1042. http://dx.doi.org/10.3390/mi11121042.

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This article presents an underwater cable-driven manipulator (UCDM) with a buoyancy regulation system (BRS), which is controlled by a fluid-power system. The manipulator consists of five sections, and each section is embedded with a buoyancy adjustment unit. By regulating buoyancy at each section, the static and dynamic states of the manipulator will be changed, promising a new operating mode of an underwater manipulator driven by buoyancy. In this article, a dynamic model of the manipulator is established by the Newton-Euler equation, considering cable tension, inter-joint force, buoyancy, water resistance and other variables. With a numerical method, the dynamic model is solved and the values of cable tension are obtained, which are used to evaluate the buoyancy-driven operating mode of underwater manipulator. This research will be useful for manipulator operating in fluid environments, such as underwater manipulator in the ocean, micro-manipulator in a blood vessel, and so on.

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Dissertations / Theses on the topic "Underwater manipulator"

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Cooney, Lauren Alise. "Development of a low-cost underwater manipulator." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36303.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.<br>Includes bibliographical references (p. 41).<br>This thesis describes the design, modeling, manufacture, and testing of a low cost, multiple degree-of-freedom underwater manipulator. Current underwater robotic arm technologies are often expensive or limited in functionality. The goal of this research is to produce a multiple degree-of-freedom manipulator utilizing relatively inexpensive, commercial off-the-shelf servo motors. This project is designed for low-payload (< 0.5 kg) and shallow depth operation on a small remotely operated vehicle. A completed underwater manipulator has been built using the new servo housing design. Static and dynamic waterproofing techniques have proven satisfactory, offering a solid design for waterproofing of servo motors. Preliminary tests of the integrated servo arm system indicate that the arm will operate successfully in the underwater environment. This design is anticipated to be used on an underwater vehicle in June 2006, as well as in future undergraduate ocean engineering design subjects.<br>by Lauren Alise Cooney.<br>S.B.

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Di, Pietro David Mark. "Development of an actively compliant underwater manipulator." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/14582.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, and Woods Hole Oceanographic Institution, 1988.<br>Includes bibliographical references.<br>by David Mark DiPietro.<br>M.S.

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Andresen, Simen. "Underwater Robotics : control of marine manipulator-vehicle systems." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25875.

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For using underwater vehicle-manipulator systems (UVMS) in a challenging envi-ronment, it is important to have a good mathematical description of the systemwhich accounts for disturbances such as ocean currents. The dynamics equation onmatrix form is therefore derived and different properties such as positive definitenessand skew symmetry is obtained. Based on the derived equations, a sliding modecontroller has been designed in order to track trajectories in the configuration spaceof the UVMS. The controller is robust when it comes to uncertainties in dynamicsparameters and uncertainties in ocean current, yielding global asymptotic stabilityas long as the uncertainties are bounded.Furthermore, a kinematic control system has been designed for facilitating humanoperation of a UVMS, by allowing an operator to only control the end effectormotion. The rest of the motion is then resolved through a weighted least-normpseudo inverse solution of the Jacobian matrix, in order to avoid mechanical jointlimits. Moreover, the vehicles motion is controlled by an event based algorithm tolimit the motion of the vehicle. This is done by attaching a 3D meshed polygon tothe vehicle frame and check if the end effector is inside or outside this mesh. Themesh then represents the space, relative to the manipulator, were the end effectoris fully dexterous. The vehicle will then be commanded to move only when the endeffector reaches the outside of the meshed polygon.A simulator has been implemented, based on the derived equations. The simula-tions of the UVMS, with the two controllers, yields good tracking results for trackingtrajectories both in the workspace of the end effector and in the configuration spaceof the UVMS.

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Sarafis, Ilias Thoma. "Electrically driven underwater manipulator for remote operated vehicles." Thesis, University of Liverpool, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.262585.

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Roberts, Megan Johnson. "Design of small, low-cost, underwater fin manipulator." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/43014.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2008.<br>Includes bibliographical references (p. 28).<br>This thesis details the development of a small, low cost, underwater manipulator for use on the XAUV. At this time, there are no cheap underwater servos commercially available. The design involves modifying a commercially available servo so that it is waterproof and can provide the appropriate amount of torque. The manipulator is intended rotate the fins of the XAUV in order to enhance overall mobility and speed. The project includes a detailed design process resulting in a final design, which was built.<br>by Megan Johnson Roberts.<br>S.B.

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Korkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.

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In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The system equations of motion are derived recursively using Newton&ndash<br>Euler formulation. The inverse dynamics control algorithms are formulated and trajectory tracking control of the systems is achieved by assigning separate tasks for the end effector of the manipulator and for the underwater vehicle. The proposed inverse dynamics controller utilizes the full nonlinear model of the system and consists of a linearizing control law that uses the feedback of positions and velocities of the joints and the underwater vehicle in order to cancel off the nonlinearities of the system. The PD control is applied after this complicated feedback linearization process yielding second order error dynamics. The thruster dynamics is also incorporated into the control system design. The stability analysis is performed in the presence of parametric uncertainty and disturbing ocean current. The effectiveness of the control methods are demonstrated by simulations for typical underwater missions.

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Barbalata, Corina. "Modelling and control of lightweight underwater vehicle-manipulator systems." Thesis, Heriot-Watt University, 2017. http://hdl.handle.net/10399/3279.

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This thesis studies the mathematical description and the low-level control structures for underwater robotic systems performing motion and interaction tasks. The main focus is on the study of lightweight underwater-vehicle manipulator systems. A description of the dynamic and hydrodynamic modelling of the underwater vehicle-manipulator system (UVMS) is presented and a study of the coupling effects between the vehicle and manipulator is given. Through simulation results it is shown that the vehicle’s capabilities are degraded by the motion of the manipulator, when it has a considerable mass with respect to the vehicle. Understanding the interaction effects between the two subsystems is beneficial in developing new control architectures that can improve the performance of the system. A control strategy is proposed for reducing the coupling effects between the two subsystems when motion tasks are required. The method is developed based on the mathematical model of the UVMS and the estimated interaction effects. Simulation results show the validity of the proposed control structure even in the presence of uncertainties in the dynamic model. The problem of autonomous interaction with the underwater environment is further addressed. The thesis proposes a parallel position/force control structure for lightweight underwater vehicle-manipulator systems. Two different strategies for integrating this control law on the vehicle-manipulator structure are proposed. The first strategy uses the parallel control law for the manipulator while a different control law, the Proportional Integral Limited control structure, is used for the vehicle. The second strategy treats the underwater vehicle-manipulator system as a single system and the parallel position/force law is used for the overall system. The low level parallel position/force control law is validated through practical experiments using the HDT-MK3-M electric manipulator. The Proportional Integral Limited control structure is tested using a 5 degrees-of-freedom underwater vehicle in a wave-tank facility. Furthermore, an adaptive tuning method based on interaction theory is proposed for adjusting the gains of the controller. The experimental results show that the method is advantageous as it decreases the complexity of the manual tuning otherwise required and reduces the energy consumption. The main objectives of this thesis are to understand and accurately represent the behaviour of an underwater vehiclemanipulator system, to evaluate this system when in contact with the environment and to design informed low-level control structures based on the observations made through the mathematical study of the system. The concepts presented in this thesis are not restricted to only vehicle-manipulator systems but can be applied to different other multibody robotic systems.

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Davies, J. B. C. "A flexible three dimensional motion generator." Thesis, Heriot-Watt University, 1996. http://hdl.handle.net/10399/1173.

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Lo, Ka Meng. "A novel design of underwater vehicle-manipulator systems for cleaning water pool." Thesis, University of Macau, 2010. http://umaclib3.umac.mo/record=b2494142.

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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.

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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposées<br>The offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis

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Books on the topic "Underwater manipulator"

1

DiPietro, David Mark. Development of an actively compliant underwater manipulator. Woods Hole Oceanographic Institution, 1988.

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Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Springer, 2003.

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Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Springer, 2003.

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Snow, Edward Ramsey. Advances in grasping and vehicle contact identification: Analysis, design and testing of robust methods for underwater robot manipulation. Massachusetts Institute of Technology, 1999.

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Antonelli, Gianluca. Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics). 2nd ed. Springer, 2006.

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Villedieu, E., O. Mercier, and H. Vos. Underwater Qualification of the RD 500 Manipulator: Nuclear Science and Technology: Nuclear Science and Technology [series]. European Communities / Union (EUR-OP/OOPEC/OPOCE), 1996.

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Yuh, Junku, and Giacomo Marani. Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM. Springer, 2014.

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Perkins, Elizabeth C., Shaun P. Brothers, and Charles B. Nemeroff. Animal Models for Post-Traumatic Stress Disorder. Edited by Charles B. Nemeroff and Charles R. Marmar. Oxford University Press, 2018. http://dx.doi.org/10.1093/med/9780190259440.003.0024.

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Animal models of post-traumatic stress disorder (PTSD) provide a wellspring of biological information about this complex condition by providing the opportunity to manipulate trauma exposure and measure biological outcomes in a systematic manner that is not possible in clinical studies. Symptoms of PTSD may be induced in animals by physical (immobilization, foot shock, underwater stress) and psychological stressors (exposure to predator, social defeat, early life trauma) or a combination of both. In addition, genetic, epigenetic and transgenic models have been created by breeding animals with a behavioral propensity for maladaptive stress response or by directly manipulating genes that have been implicated in PTSD. The effect of stressors in animals is measured by a variety of means, including observation of behavior, measurement of structural alterations in the brain and of physiological markers such as HPA axis activity and altered gene expression of central nervous system neurotransmitter system components including receptors. By comparing changes observed in stress exposed animals to humans with PTSD and by comparing animal response to treatments that are effective in humans, we can determine the validity of PTSD animal models. The identification of a reliable physiological marker of maladaptive stress response in animals as well as standard use of behavioral cutoff criteria are critical to the development of a valid animal model of PTSD.

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Book chapters on the topic "Underwater manipulator"

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Antonelli, Gianluca. "SIMURV. A Simulation Package for Underwater Vehicle-Manipulator Systems." In Underwater Robots. Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-662-14387-2_6.

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Marani, Giacomo, and Junku Yuh. "The SAUVIM Underwater Vehicle-Manipulator System." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-54613-6_4.

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Tarn, T. J., G. A. Shoults, and S. P. Yang. "A Dynamic Model of an Underwater Vehicle with a Robotic Manipulator using Kane’s Method." In Underwater Robots. Springer US, 1996. http://dx.doi.org/10.1007/978-1-4613-1419-6_11.

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Xiao, Zhihu, Guohua Xu, Fuyuan Peng, et al. "Multi-sensor Based Autonomous Underwater Manipulator Grasp." In Intelligent Robotics and Applications. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16584-9_51.

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Sharma, Anil Kumar, Vishal Abhishek, Subir Kumar Saha, N. Srinivasa Reddy, and Soumen Sen. "Dynamic Analysis of Underwater Vehicle-Manipulator Systems." In Lecture Notes in Mechanical Engineering. Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-8597-0_63.

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Wang, Qin, Junwei Tian, Yanfei Zhao, and Zhiyi Jiang. "Design and Implementation of an Underwater Manipulator." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65978-7_90.

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Tang, Qirong, Daopeng Jin, Yang Hong, Jinyuan Guo, and Jiang Li. "Active Disturbance Rejection Control of Underwater Manipulator." In Lecture Notes in Computer Science. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-78811-7_10.

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Luo, Weilin, and Hongchao Cong. "Robust NN Control of the Manipulator in the Underwater Vehicle-Manipulator System." In Advances in Neural Networks - ISNN 2017. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-59081-3_10.

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Antonelli, G., and S. Chiaverini. "Fuzzy Inverse Kinematics for Underwater Vehicle-Manipulator Systems." In Advances in Robot Kinematics. Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-011-4120-8_26.

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Zereik, Enrica, Francesco Gagliardi, Marco Bibuli, et al. "Belief Space Planning for an Underwater Floating Manipulator." In Computer Aided Systems Theory – EUROCAST 2015. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-27340-2_106.

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Conference papers on the topic "Underwater manipulator"

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Spenneberg, Dirk, Jan Albiez, Frank Kirchner, Jochen Kerdels, and Sascha Fechner. "C-Manipulator: An Autonomous Dual Manipulator Project for Underwater Inspection and Maintenance." In ASME 2007 26th International Conference on Offshore Mechanics and Arctic Engineering. ASMEDC, 2007. http://dx.doi.org/10.1115/omae2007-29202.

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We present the new project C-Manipulator (funded by the German Ministry of Economics (BMWI), Grant No. 03SX231). The goal of C-Manipulator is the development of an autonomous, modular, dual manipulator system for underwater applications. This paper provides an overview over the project. It explains shortly the relevance of autonomous underwater manipulation. Then it describes briefly the state-of-the-art, explains the new vision-based control approach featuring visual servoing techniques and the planned manipulator system design featuring the Sub-C Network. Furthermore, a new developed indoor test-bed using a gantry crane for UUV-simulation is introduced, which will be used to test the manipulator system under realistic conditions and to prepare the system for a final test in the Baltic sea, which is planned for 2009.

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Yang, Chen, He Xu, Xin Li, Haihang Wang, and Fengshu Yu. "Underwater Flexible Manipulator Double-Loop Feedback Control Based on Built-in Binocular Vision and Displacement Sensor." In BATH/ASME 2020 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/fpmc2020-2730.

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Abstract A real-time and effective double-loop feedback control system for underwater flexible manipulators is raised in this paper. The research object is a kind of underwater flexible manipulator driven by McKibben water hydraulic artificial muscle (WHAM) that can grasp, swallow, and disgorge target objects in its interior space. To make up for the lack of flexibility, an underwater flexible manipulator collaborative working strategy is proposed. A more flexible and smaller flexible manipulator is placed inside the flexible manipulator to assist it in performing difficult underwater works. The control system feeds back the position of internal objects through a built-in binocular camera and the working state of the manipulator through displacement sensors. The control system setups including underwater flexible manipulator subsystem, hydraulic drive subsystem, PLC control subsystem, displacement sensor subsystem, built-in binocular vision subsystem, and upper computer subsystem is built. PYTHON-based built-in binocular vision software and C++-based underwater flexible manipulator control software are also developed to facilitate observation and recording. The underwater flexible manipulator collaborative experiment is designed to verify the performance of the control system and the control algorithm.

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Sagatun, S. I., and T. I. Fossen. "Computer-Controlled Underwater Robot Manipulator." In Offshore Technology Conference. Offshore Technology Conference, 1990. http://dx.doi.org/10.4043/6358-ms.

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Yuyi, Zhai, Chen Weihua, Tang Haibing, and Gong Zhengbang. "Underwater Robot Vertical Manipulator Control." In 2005 Conference on High Density Microsystem Design and Packaging and Component Failure Analysis. IEEE, 2005. http://dx.doi.org/10.1109/hdp.2005.251436.

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Shen, Shuxin, Shengming Bai, Jiankang Xu, and Nan Wang. "EMG-Controlled Force Feedback Underwater Manipulator." In 2018 OCEANS - MTS/IEEE Kobe Techno-Ocean (OTO). IEEE, 2018. http://dx.doi.org/10.1109/oceanskobe.2018.8559312.

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6

Larkum and Broome. "Advanced controller for an underwater manipulator." In Proceedings of IEEE International Conference on Control and Applications CCA-94. IEEE, 1994. http://dx.doi.org/10.1109/cca.1994.381364.

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7

Soylu, Serdar, Flavio Firmani, Bradley J. Buckham, and Ron P. Podhorodeski. "Comprehensive underwater vehicle-manipulator system teleoperation." In 2010 OCEANS MTS/IEEE SEATTLE. IEEE, 2010. http://dx.doi.org/10.1109/oceans.2010.5664365.

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8

Maruthupandi, A., N. Muthupalaniappan, and S. R. Pandian. "Visual servoing of a 2-link underwater robot manipulator." In 2015 IEEE Underwater Technology (UT). IEEE, 2015. http://dx.doi.org/10.1109/ut.2015.7108226.

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Aras, Mohd Shahrieel Mohd, Muhamad Khairi Aripin, Muhammad Wahyuddin Nor Azmi, Alias Khamis, Mohd Khairi Mohd Zambri, and Mohd Firdaus Mohd Ab Halim. "3DOF small scale underwater manipulator — Gripper for unmanned underwater vehicle." In 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS). IEEE, 2017. http://dx.doi.org/10.1109/usys.2017.8309437.

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Heshmati-Alamdari, Shahab, Charalampos P. Bechlioulis, George C. Karras, and Kostas J. Kyriakopoulos. "Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication." In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729687.

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