2015
DOI: 10.1109/tmech.2015.2395413
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I-AUV Mechatronics Integration for the TRIDENT FP7 Project

Abstract: Abstract-Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 … Show more

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Cited by 99 publications
(56 citation statements)
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“…Then, by employing the differential kinematics as well as (6), we obtain the transformed task space dynamics [22]: 6 and u i that denotes the vector of task space generalized forces/torques. Invoking the kinematic relations (3)-(4), we may express the aforementioned dynamics (7) w.r.t the object's coordinates:…”
Section: A Kinematicsmentioning
confidence: 99%
See 1 more Smart Citation
“…Then, by employing the differential kinematics as well as (6), we obtain the transformed task space dynamics [22]: 6 and u i that denotes the vector of task space generalized forces/torques. Invoking the kinematic relations (3)-(4), we may express the aforementioned dynamics (7) w.r.t the object's coordinates:…”
Section: A Kinematicsmentioning
confidence: 99%
“…In particular, a vast number of the aforementioned applications, demand the underwater vehicle to be enhanced with intervention capabilities as well [4], thus raising increasing interest on Underwater Vehicle Manipulator System (UVMS). For instance, some recent European projects: TRIDENT [5], [6], PANDORA [7], [8], and the most recent one DexROV [9], have boosted significantly the autonomous underwater interaction tasks.…”
Section: Introductionmentioning
confidence: 99%
“…Various concepts for next generation of hovercapable AUVs have been developed to overcome such a limitation [4,5,6,7]. Typically, thrusters are added to the design to provide additional control forces in low-speed operation, as illustrated 1 K.Tanakitkorn@soton.ac.uk 2 Philip.Wilson@soton.ac.uk 3 S.R.Turnock@soton.ac.uk 4 abp@noc.co.uk in figure 1.…”
Section: Introductionmentioning
confidence: 99%
“…Various concepts for next‐generation of hover‐capable AUVs have been developed to overcome such a limitation . Typically, thrusters are added to the design to provide additional control forces for low‐speed operation (see Delphin2 AUV in Figure , for instance).…”
Section: Introductionmentioning
confidence: 99%