Abstract—The necessity and scale of underwater works using autonomous underwater vehicles (AUVs) and underwater remotely operated vehicles (ROVs) is growing rapidly recently. One of the tasks solved by those types of robots is the investigation of sunken ships and sunken submarines in particular. The importance of using unpiloted underwater vehicles instead of piloted ones is evident considering the fact that the underwater environment is extremely dangerous for the crew, because it involves many risk factors. In this paper we consider the simulation of underwater ROV manipulation operations on sunken submarines.
Index Terms—Manipulation operation, motion control system, virtual world, ROV.
N. Burlutskiy, Y. Touahmi, and B. H. Lee were with Seoul National University, Robotic and Intelligent Systems Lab., Seoul, South Korea. (e-mail: nburlutsky@ mail.ru; tenclipers@ gmail.com; bhlee@snu.ac.kr).
V. Butakov is with University of South California, Control Systems Lab., Los Angeles, USA (e-mail: butakov@usc.edu).
Cite: Burlutskiy Nikolay, Butakov Vadim, Touahmi Yaniss, and Beom Hee Lee, "Modeling of the Manipulation Operation on Sunken Submarines for the Underwater Remotely Operated Vehicle," International Journal of Modeling and Optimization vol. 2, no. 5, pp. 579-583, 2012.
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