No abstract

This work a novel approach in radio frequency communications applied to a underwater wireless sensors network UWSN is presented. The proposal is to manipulate in a bounded and controlled environment a Remote Operated Vehicle ROV without umbilical cable through a underwater sensors network based on radio frequency communication, taking advantage of the faculties of this underwater communication in conjunction with a sensor network, furter, a dynamic redundancy is used in the transmitters towards the ROV to increasing the range and avoiding communication loss, aditional a static redundancy is applied on the receiver to increase te reliability of comunication. The part of the ROV receiving sensors is based on a statisc redundancy of 3 sensors which will apply a vote taking in order to failure tolerantce, the sensor network will applied a dinamic redundacy in the transmitters in order to follow the communication with the ROV, in case of failure, the communication loss can be compensated with another sensor of the network that will take its role.

The aim of this work is to study the behavior of a marine vehicle applying vision-based control. We use a DMVO algorithm (Direct Monocular Visual Odometry) that is based at the feature extraction of two image frames taken consecutively at two continuous tame frames in order to estimate a marine vehicle’s position; vehicle’s dynamics are modeled without external perturbations and therefore apply a vision based Proportional Integral Derivative (PID) control for the study of its behavior through simulations using computational tools to simulate a 3D scenario and get the matrix that contains the image from the inertial frame of reference view from the vehicle. First we need a static scenario that contains reference points such that we are able to apply the proposed vision based PID control; the virtual scenario was designed at the MATLAB’s virtual world editor that let us add sensors such as cameras, and set their parameters for make the study and simulations such as path following.