Compliant Manipulation With Quasi-Rigid Docking for Underwater Structure Inspection

Autor: Roger Pi, Patryk Cieslak, Joan Esteba, Narcis Palomeras, Pere Ridao

Publikováno v: IEEE Access, Vol 11, Pp 128957-128969 (2023)

Offshore wind farms are a crucial source of renewable energy, but maintenance and repair can be challenging due to their remote locations and harsh environmental conditions. Professional divers or Remotely Operated Vehicles (ROVs) are commonly used t

Externí odkaz: https://doaj.org/article/67009256fb1d456eaed259be41d0a3d8

Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

Autor: Joan Esteba, Patryk Cieslak, Narcis Palomeras, Pere Ridao

Publikováno v: IEEE Access, Vol 9, Pp 86607-86631 (2021)

This paper presents a comparative study of docking algorithms intended for non-holonomic autonomous underwater vehicles, docking in funnel-shaped docking stations, operating under the influence of ocean currents. While descriptive surveys have been a

Externí odkaz: https://doaj.org/article/a0631130cb9b4351a06d27b8589e25f2

Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV

Autor: Joan Esteba, Patryk Cieslak, Narcís Palomeras, Pere Ridao

This paper presents the design and development of a funnel-shaped Sparus Docking Station (SDS) intended for the non-holonomic torpedo-shaped Sparus II Autonomous Underwater Vehicles (AUV). The SDS is equipped with sensors and batteries, allowing for

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::6893a09c0b0f4cac57879bb1c76fad72
https://doi.org/10.22541/au.168371737.70032343/v1

Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle

Autor: Pere Ridao, Syed Saad Azhar Ali, Ubaid M. Al-Saggaf, Patryk Cieslak, Nur Afande Ali Hussain

Publikováno v: IEEE Access, Vol 8, Pp 205685-205695 (2020)
Ieee Access, 2020, vol. 8, p. 205685-205695
Articles publicats (D-ATC)
Hussain, Nur Afande Ali Ali, Syed Saad Azhar Ridao Rodríguez, Pere Cieśląk, Patryk Al-Saggaf, Ubaid 2020 Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle Ieee Access 8 205685 205695
DUGiDocs – Universitat de Girona
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This paper presents the development of unmanned marine robotic control modelling and control synthesis using a coupled multivariable underactuated nonlinear adaptive U-model approach. The proposed controller was developed using thru an open source ro

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c8e7a6e0798b672a9f4d0c91781b6532
https://ieeexplore.ieee.org/document/9253512/

Allowing untrained scientists to safely pilot ROVs: Early collision detection and avoidance using omnidirectional vision

Autor: Eduardo Ochoa, Rafael Garcia, Nuno Gracias, Patryk Cieslak, Klemen Istenic, Josep Bosch

Publikováno v: Global Oceans 2020: Singapore – U.S. Gulf Coast.

The study of underwater environments involves multiple hazards that can compromise the safety of robots. Underwater missions require a high level of attention from Remotely Operated Vehicle (ROV) operators to avoid damage to the robot. For this reaso

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::4a0f4db602de57879f3036c84a92eba8
https://doi.org/10.1109/ieeeconf38699.2020.9389040