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Springer Tracts in Advanced Robotics #2: Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems

Springer Tracts in Advanced Robotics #2: Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems Cover

 

Synopses & Reviews

Publisher Comments:

This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material not covered in the first edition as well as streamline and improve the previous material.

Synopsis:

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters' faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Table of Contents

Introduction.- Modelling of Underwater Robots.- Dynamic Control of 6-DOF AUVs.- Fault Detection/Tolerance Strategies for AUVs and ROVs.- Experiments of Dynamic Control of a 6-DOF AUV.- Kinematic Control of UVMSs.- Dynamic Control of UVMSs.-  Interaction Control of UVMSs.- Coordinated Control of Platoons of AUVs.- Concluding Remarks.

Product Details

ISBN:
9783540317524
Publisher:
Springer
Subject:
Electricity
Author:
Antonelli, Gianluca
Author:
Antonelli, G.
Subject:
Artificial Intelligence - General
Subject:
Applied
Subject:
Intelligence (AI) & Semantics
Subject:
Artificial Intelligence
Subject:
Artificial Intelligence (incl. Robotics)
Subject:
Systems Theory, Control
Subject:
Control, Robotics, Mechatronics <P>State of the art in underwater robotics experiments of dynamic control of an underwater vehicle</P> <P></P> <P>Widely expanded 2<SUP>nd</SUP> edition</P>
Subject:
Electricity-General Electricity
Subject:
Control, Robotics, Mechatronics
Edition Description:
2nd ed. 2006
Series:
Springer Tracts in Advanced Robotics
Series Volume:
2
Publication Date:
20060631
Binding:
HARDCOVER
Language:
English
Pages:
296
Dimensions:
235 x 155 mm 1310 gr

Related Subjects

Business » General
Business » Management
Business » Writing
Computers and Internet » Artificial Intelligence » General
Computers and Internet » Artificial Intelligence » Robotics
Computers and Internet » Computers Reference » General
Engineering » Engineering » General Engineering
Science and Mathematics » Electricity » General Electricity
Science and Mathematics » Mathematics » Algebra » General
Science and Mathematics » Mathematics » Applied
Science and Mathematics » Mathematics » Probability and Statistics » Statistics

Springer Tracts in Advanced Robotics #2: Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems
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Product details 296 pages Springer - English 9783540317524 Reviews:
"Synopsis" by , This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters' faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
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