Titlebook: Underwater Robots; Junku Yuh,Tamaki Ura,George A. Bekey Book 1996 Kluwer Academic Publishers 1996 Motion Planning.Navigation.Simulation.al

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Experimental Comparison of PID vs. PID Plus Nonlinear Controller for Subsea Robots,d the design of this additional loop does not rely on the system model and is simple to tune. The results presented in this paper were obtained using the VORTEX vehicle both in simulation and during real experiments; they demonstrate the advantages of using a PID with this nonlinear loop over a simp

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Motion Planning and Contact Control for a Tele-Assisted Hydraulic Underwater Robot,n to the modelling of hydraulic underwater robots and to the resulting design of hybrid position/force control strategies. A model for a hydraulically actuated robot is developed, taking into account the electrohydraulic servovalve, the bulk modulus of oil, piston area, friction, hose compliance and

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OTTER: The Design and Development of an Intelligent Underwater Robot,ly integrated into a single robotic system. Examples of new technologies demonstrated on the OTTER underwater robot include control from a real-time vision-sensing system, coordinated arm/vehicle control, and control from 3D graphical user interfaces.

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Book 1996nsider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 p

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