Sökning: id:"swepub:oai:DiVA.org:oru-49753" >
Layered mission con...
Layered mission control architecture and strategy for crawling underwater cleaning robot
-
- Albitar, Houssam, 1975- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
-
- Dandan, Kinan, 1976- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
-
- Ananiev, Anani, 1951- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
-
visa fler...
-
- Kalaykov, Ivan, 1949- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
-
visa färre...
-
(creator_code:org_t)
- InderScience Publishers, 2015
- 2015
- Engelska.
-
Ingår i: International Journal of Mechatronics and Automation. - : InderScience Publishers. - 2045-1059. ; 5:2/3, s. 114-124
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- underwater robots
- layered control system
- crawling robots
- bio-fouling cleaning
- Datavetenskap
- Computer Science
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas