“Model based teleoperation of untethered underwater vehicles with manipulators”

Authors: Jens G. Balchen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1996, Vol 17, No 1, pp. 37-45.

Keywords: Model based, teleoperation, underwater vehicle

Abstract: Model based teleoperation of underwater vehicles and manipulators is a way to solve the problem introduced by the very long delay caused by the narrow band sonic communication link between the vehicle and the surface vessel. The MOBATEL project is described.

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DOI forward links to this article:
[1] Bart Milne, XiaoQi Chen, Chris Hann, Richard Parker and Paul Milliken (2013), doi:10.4018/978-1-4666-4225-6.ch012
[2] Bart Milne, XiaoQi Chen, Chris Hann and Richard Parker (2013), doi:10.1109/ICCA.2013.6564913
References:
[1] BALCHEN, J.G. YIN SHI (1994). The MOBATEL Project, Rep. 1994:129 W, Dept. of Engineering Cybernetics, The Norwegian Inst. of Technology, Trondheim, Norway, 1994.
[2] ELLE, O.J., JOHNSEN, K. LIEN, T.K. (1994). Mechanical analysis of high precision manipulators, Scandinavian Symposium on Robotics,.R. Tuokki, Ed., Tampere University of Technology, Finland. October 4-6, 1994.
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[6] SPANGELO, I. (1994). Trajectory Optimization for Vehicles Using Control Vector Parametrization and Nonlinear Programming, Dr.ing. Thesis, Rep. 1994:111-W, Department of Engineering Cybernetics, The Norwegian Institute of Technology, Trondheim, Norway.
[7] SCHJ├śLBERG, I. EOSSEN, T.I. (1994). Modelling and Control of Underwater Vehicle/Manipulator, Proc. Conference on Manoeuvring and Control of Marine Craft,.G.N. Roberts and M.M.A. Pourzanjani, Eds., Maritime Research Centre, Southampton Institute, UK, 1994.
[8] TAN, QING (1993). Modelbased Anthropomorphic Robot Telemanipulation, Dr.ing. Thesis, Rep. 1993:144-W, Department of Engineering Cybernetics, the Norwegian Institute of Technology, Trondheim, Norway.
[9] REN, GUANG (1993). Finite Element Modelling the Hydrodynamic Environment of Autonomous Underwater Vehicles, Dr.ing. Thesis, Rep. 1993:9-W, Department of Engineering Cybernetics, The Norwegian Institute of Technology, Trondheim, Norway.
[10] VOLDEN, RUNE (1995). Modelbased and Operator assisted Computer Vision in ROV Teleoperation, Dr. ing. Thesis, Rep. 1995:1-W, Department of Engineering Cybernetics, The Norwegian Institute of Technology, Trondheim, Norway.
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[12] Department of Engineering Cybernetics (1996). Report 157-W, The Norwegian Institute of Technology, Trondheim, Norway.


BibTeX:
@article{MIC-1996-1-4,
  title={{Model based teleoperation of untethered underwater vehicles with manipulators}},
  author={Balchen, Jens G.},
  journal={Modeling, Identification and Control},
  volume={17},
  number={1},
  pages={37--45},
  year={1996},
  doi={10.4173/mic.1996.1.4},
  publisher={Norwegian Society of Automatic Control}
};