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Visar resultat 1 - 5 av 14 avhandlingar som matchar ovanstående sökkriterier.

1. 1. Enabling a Robot for Underwater Surface Cleaning

   Författare :Houssam Albitar; Amy Loutfi; Anani Ananiev; Mikael Ekström; Örebro universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; underwater robot; underwater cleaning; biofouling; adhesion; locomotion; stability; Reglerteknik; Automatic Control;

   Sammanfattning : Biofouling build-up on submerged structures such as ships, petroleum and gas storage tanks, electric power plants, bridges, oil rigs etc. is a major problem that affects the surface material of the structure, the eventual hydrodynamic quality of the surface and in some cases the efficacy of cooling systems. LÄS MER

3. 2. Formations and Obstacle Avoidance in Mobile Robot Control

   Författare :Petter Ögren; KTH; []
   Nyckelord :Mobile Robots; Robot Control; Obstacle Avoidance; Multi-robot system; Formation Control; Navigation Function; Lyapunov Function; Model Predictive Control; Receding Horizon Control; Gradient Climbing; Gradient Estimation.;

   Sammanfattning : This thesis consists of four independent papers concerningthe control of mobile robots in the context of obstacleavoidance and formation keeping. The first paper describes a new theoreticallyv erifiableapproach to obstacle avoidance. LÄS MER

4. 3. Cooperative and Interaction Control for Underwater Robotic Vehicles

   Författare :Shahab Heshmati-Alamdari; Kostas J. Kyriakopoulos; National Technical University of Athens School of Mechanical Engineering Control Systems Lab; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Marine robotics; Robotics; Underwater Vehicle Manipulator Systems; Cooperative manipulations; Visual servoing; Nonlinear Model Predictive Control; Autonomous Underwater Vehicles; Industrial Information and Control Systems; Industriella informations- och styrsystem; Vehicle and Maritime Engineering; Farkostteknik;

   Sammanfattning : In this dissertation we address the problem of robust control for underwater robotic vehicles under resource constraints and inspired by practical applications in the field of marine robotics. By the term “resource constraints” we refer to systems with constraints on communication, sensing and energy resources. LÄS MER

5. 4. Hydrobatics: Efficient and Agile Underwater Robots

   Författare :Sriharsha Bhat; Ivan Stenius; Dimos V. Dimarogonas; Alexander Phillips; KTH; []
   Nyckelord :Autonomous Underwater Vehicles; Modeling; Simulation; Control; Field Testing; Cyber-physical Systems.; Autonoma Undervattensfarkoster AUV ; Modellering; Simulering; Reglerteknik; Fältprovning; Cyber-fysikaliska System CPS .; Vehicle and Maritime Engineering; Farkostteknik;

   Sammanfattning : The term hydrobatics refers to the agile maneuvering of underwater vehicles. Hydrobatic capabilities in autonomous underwater vehicles (AUVs) can enable increased maneuverability without a sacrifice in efficiency and speed. This means innovative robot designs and new use case scenarios are possible. LÄS MER

7. 5. On the Design of Noncoherent Acoustic Underwater Communication

   Författare :Viktor Lidström; Magnus Lundberg Nordenvaad; Peter Sigray; Jacob Kuttenkeuler; Paul van Walree; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; noncoherent; acoustic underwater communication; link adaptation; adaptive networks; ickecoherent; akustisk undervattenskommunikation; länkadaption; adaptiva nätverk; Farkostteknik; Vehicle and Maritime Engineering;

   Sammanfattning : The underwater domain is an environment hostile to humans due to the hydrostatic pressure that rapidly increases with water depth, which has led to underwater robotics becoming an emerging technological field with many commercial-, environmental-, and security-related applications. A major challenge to untethered autonomous underwater vehicles (AUVs) is communicating robot-to-robot and robot-to-topside operator since it must, in most cases, be done acoustically. LÄS MER