Abstract
Underwater identification and grasping of objects is a major challenge faced by the marine engineers even today. Nowadays, almost all underwater operations are either autonomous or tele-operated. In fact remotely operated vehicles (ROVs) are used to deal with inspection tasks and industrial maintenance whenever there is need for intervention. However, the field of autonomous underwater vehicle (AUV) is a blooming filed with research involving proper moving base control and forces interacting which leads to complicated configuration. Hence the presented work is focused implementation of end-effector with appropriate control and signal processing resulting in autonomous manipulation of movement under water.
References
- A.Caiti, G.Indiveri, G.Cannata, E.Simetti, S.Torelli, A.Sperinde, F.Wanderlingh, G.Muscolo, M.Bibuli, G.Bruzzone, E.Zereik, A.Odetti, E.Spirandelli, A.Ranieri, J.Aleotti, D.LodiRizzini, F.Oleari, F.Kallasi, G.Palli, U.Scarcia, L.Moriello, and E.Cataldi. (2016) Underwaterinter entionrobotics:An outline of the Italian national project MARIS. Marine Technology Society Journal, 50(4):98–107.
- Kampmann P, Kirchner F (2014) Towards a fine manipulation system with tactile feedback for deep-sea environments. Robot Auton Syst. Retrieved from http://www.sciencedirect.com/ science/article/pii/S0921889014002188
- Kampmann P (2016) Development of a multi-modal tactile force sensing system for deep-sea applications, PhD thesis. University of Bremen. Retrieved from https://elib.suub.uni-bremen. de/peid=D00105232
- Kampmann P, Lemburg J, Hanff H, Kirchner F (2012) Hybrid pressure-tolerant electronics. In: Proceedings of theOceans 2012 MTS/IEEE hampton roads conference&exhibition.OCEANS MTS/IEEE Conference (OCEANS-2012), October 14–19, Hampton Roads, Virginia, USA, pp. 1–5. Retrieved from http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6404828 Büskens C, Wassel D (2012) The ESA NLP Solver WORHP. In: Modeling and optimization in space engineering, pp 85–110
- George Coulouris, Jean Dollimore, T. K. & G. B. (2011). Distributed systems concepts an design (5th ed.). Boston: Addison-Wesley
- Kshemkalyani AD, MS (2011) Distributed computing: principles, algorithms, and systems. Cambridge University Press
- Pereira SS (2012) Distributed consensus algorithms for wireless sensor networks. Universitat Politecnica de Catalunya, Barcelona, Spain
- Paul H, Fliege J, Dekorsy A (2013) In-network-processing: distributed consensus-based linear estimation. IEEE Commun Lett 17(1):59–62