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Event Details

  • Monday, November 6, 2017
  • 16:30 - 17:00

Sensing and Control in Underwater Robotics: Challenges, Some Solutions and Experiments

During the last decades, underwater robotics has known a widespread interest from different research and industrial communities (Design, sensing actuation, dynamics, control, localization and mapping, etc.) given the multiple tasks they can accomplish. Indeed, their applications are multipole, such as dams inspection, oil and gas industry, fish farms, wind parks, hydroelectric power stations, underwater archeology, ocean cartography, air crash and environmental investigations, etc. An underwater vehicle is a submersible platform equipped with actuators, required to allow reliable vehicle motions; and sensors, to acquire data from the ocean environment. This talk will be organized in two parts. The first one will be focused on a technological review about the main sensors used in underwater monitoring in terms of localization, perception and communication. The initial sensors used in underwater robotics were mainly made by a simple integration of existing sensors, used in other fields of robotics, while considering underwater constraints. Nowadays, it has been recognized the need of developing of new sensing systems based on the constraints imposed by the underwater vehicle. This has stimulated the development of new sensors, specific for underwater vehicles (smarter, lower energy, more reliable, etc.) and enabling the cooperation between different vehicles to acquire the needed data and achieve successfully the mission. The second part of the talk will be focused on control of underwater vehicles for inspection applications, illustrating the use of sensors in feedback control. All the proposed control solutions will be illustrated through real-time experiments showing their effectiveness and robustness.