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IEEE Transactions on Robotics, ISSN 1552-3098, 12/2013, Volume 29, Issue 6, pp. 1469 - 1484
A passivity-based model-free control scheme for an underwater fully actuated vehicle-manipulator system (UVMS) in contact tasks is proposed. Orthogonalized... 
Aquatic robots | marine robotics | Redundancy | Manipulators | Vehicle dynamics | Force control | Underwater vehicles | redundant robots | Marine robotics | Force Control | Redundant robots | ROBOTICS | ROBOT MANIPULATORS | BEHAVIOR | DYNAMICS | PRIORITY REDUNDANCY RESOLUTION | KINEMATICS | Usage | Token Ring networks | Research robots | Analysis
Journal Article
Ocean Engineering, ISSN 0029-8018, 10/2014, Volume 89, pp. 82 - 98
Journal Article
Ocean Engineering, ISSN 0029-8018, 11/2012, Volume 54, pp. 233 - 243
This paper presents an indirect adaptive control method for an autonomous underwater vehicle-manipulator system (UVMS) based on an extended Kalman filter... 
Indirect adaptive control | Parameter estimation | Vehicle-manipulator interactions | Feedback linearization | Autonomous underwater vehicle-manipulator system | Extended Kalman filter | ENGINEERING, CIVIL | ENGINEERING, OCEAN | OCEANOGRAPHY | WATER RESOURCES | Control systems | Mechanical engineering
Journal Article
IEEE Transactions on Industrial Electronics, ISSN 0278-0046, 06/2018, Volume 65, Issue 6, pp. 4861 - 4870
Journal Article
by Li, JY and Huang, H and Xu, Y and Wan, L
SENSORS, ISSN 1424-8220, 12/2019, Volume 19, Issue 24, p. 5469
This paper presents an uncalibrated visual servoing scheme for underwater vehicle manipulator systems (UVMSs) with an eye-in-hand camera under uncertainties.... 
CHEMISTRY, ANALYTICAL | NONLINEAR DISTURBANCE OBSERVER | DESIGN | underwater vehicle manipulator system | adaptive control | ROBOTS | ENGINEERING, ELECTRICAL & ELECTRONIC | TRACKING CONTROL | INSTRUMENTS & INSTRUMENTATION | disturbance observer | INTERVENTION MISSIONS | visual servoing | uncalibrated camera
Journal Article
International Journal of Advanced Robotic Systems, ISSN 1729-8806, 9/2017, Volume 14, Issue 5, p. 172988141773393
For the motion coordination problem between the underwater vehicle and manipulator of the underwater vehicle–manipulator system, a new redundancy resolution... 
Underwater vehicle-manipulator system (UVMS) | Payload | Redundancy resolution | Motion coordination | ROBOTICS | payload | JOINT LIMITS | ROBOT MANIPULATORS | underwater vehicle-manipulator system (UVMS) | MECHANISMS | redundancy resolution | Priorities | Fuzzy logic | Redundancy | Sonar | Fuel consumption | Underwater vehicles | Automotive components | Weight
Journal Article
Journal of the Franklin Institute, ISSN 0016-0032, 04/2012, Volume 349, Issue 3, pp. 1125 - 1138
This paper presents an intelligent controller for underwater vehicle-manipulator systems (UVMS) based on the neuro-fuzzy approach. The controller is composed... 
MATHEMATICS, INTERDISCIPLINARY APPLICATIONS | ENGINEERING, MULTIDISCIPLINARY | AUTOMATION & CONTROL SYSTEMS | ENGINEERING, ELECTRICAL & ELECTRONIC | Computer science | Energy consumption | Control systems | Neural networks | Fuzzy logic | Degrees of freedom | Computer simulation | Dynamics | Mathematical analysis | Underwater | Dynamical systems
Journal Article
IEEE Transactions on Fuzzy Systems, ISSN 1063-6706, 12/2013, Volume 21, Issue 6, pp. 1105 - 1114
This paper investigates the viability of applying a functional machine with a fuzzy approach for redundancy resolution to an autonomous underwater... 
Fuzzy logic | underwater vehicle-manipulator systems (UVMSs) | Redundancy | Kinematics | Functional machine (FM) | Manipulators | Indexes | Joints | Vehicles | Underwater vehicle-manipulator systems (UVMSs) | COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE | fuzzy logic | ENGINEERING, ELECTRICAL & ELECTRONIC
Journal Article
Mechanism and Machine Theory, ISSN 0094-114X, 05/2018, Volume 123, pp. 76 - 88
•Underwater vehicle manipulator system configuration and parameters are optimized.•Four design alternatives are determined based on degrees of freedom... 
Underwater manipulator | Underwater vehicle manipulator system | Manipulability | Drag | Optimization | ROBOT | ENGINEERING, MECHANICAL
Journal Article
IEEE Journal of Oceanic Engineering, ISSN 0364-9059, 04/2018, Volume 43, Issue 2, pp. 391 - 401
Journal Article
IEEE Access, ISSN 2169-3536, 2017, Volume 5, pp. 7435 - 7443
Journal Article
IEEE Journal of Oceanic Engineering, ISSN 0364-9059, 01/2014, Volume 39, Issue 1, pp. 100 - 109
This paper proposes a framework for actively using the restoring moments of an underwater vehicle-manipulator system (UVMS) considering both kinematic and... 
robust adaptive control | Vectors | End effectors | Redundancy resolution | underwater vehicle-manipulator system (UVMS) | Performance analysis | Vehicle dynamics | Joints | Vehicles | ENGINEERING, CIVIL | ENGINEERING, OCEAN | OCEANOGRAPHY | ENGINEERING, ELECTRICAL & ELECTRONIC
Journal Article
Polish Maritime Research, ISSN 1233-2585, 06/2019, Volume 26, Issue 2, pp. 104 - 114
This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous... 
UVMS | Model Predictive Control | Fuzzy Compensator | SLIDING MODE | ENGINEERING, MARINE | Autonomous underwater vehicles | Uncertainty | Stability | Tracking | Underwater | Manipulators | Underwater vehicles | Robust control | Robot arms | Control | Robustness (mathematics) | Disturbance | Nonlinear control | Fuzzy systems | Predictive control
Journal Article
Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment, ISSN 1475-0902, 11/2018, Volume 232, Issue 4, pp. 448 - 458
To ensure satisfactory control performance for the underwater vehicle-manipulator systems, a novel continuous nonsingular fast terminal sliding mode controller... 
terminal sliding mode | time delay control | Underwater vehicle-manipulator systems | joint space | ENGINEERING, MARINE | TIME-DELAY CONTROL | Controllers | Stability | Tracking | Manipulators | Control systems | Stability analysis | Delay | Underwater vehicles | Sliding mode control | Time lag | Connectors | Couplings | Robot arms | Control | Dynamics | Control stability | Tracking errors | Tracking control | Slumping
Journal Article
Multibody System Dynamics, ISSN 1384-5640, 10/2017, Volume 41, Issue 2, pp. 125 - 147
Underwater autonomous manipulation is a challenging task, which not only includes a complicated multibody dynamic and hydrodynamic process, but also involves... 
Engineering | Vibration, Dynamical Systems, Control | Autonomous manipulation | Automotive Engineering | Underwater vehicle | Mechanical Engineering | Optimization | Coordinate control | Electrical Engineering | Dynamic modeling | MECHANICS | WHEELED MOBILE MANIPULATOR | INTERVENTION MISSIONS | Mathematical optimization | Analysis | Algorithms
Journal Article
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