Cooperative manipulation of a floating object by two underwater robots with arms

2021 ◽  
Author(s):  
Shinichi Sagara ◽  
Takuya Takahashi ◽  
Radzi Ambar
Keyword(s):  
Underwater Robots ◽  
Cooperative Manipulation ◽  
Floating Object

scholarly journals Real-Time Detection of River Surface Floating Object Based on Improved RefineDet

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Lili Zhang ◽  
Yaxue Wei ◽  
Huibin Wang ◽  
Yehong Shao ◽  
Jie Shen
Keyword(s):  
Real Time ◽  
Object Based ◽  
Floating Object ◽  
Real Time Detection

Free-Surface Flow Simulations With Interactively Moving Bodies

2017 ◽  
Author(s):  
Arthur E. P. Veldman ◽  
Henk Seubers ◽  
Peter van der Plas ◽  
Joop Helder
Keyword(s):  
Free Surface ◽  
Free Fall ◽  
Free Surface Flow ◽  
Surface Flow ◽  
Numerical Solution Method ◽  
Flow Simulations ◽  
Floating Object ◽  
Offshore Industry ◽  
Floating Objects ◽  
Moving Bodies

The simulation of free-surface flow around moored or floating objects faces a series of challenges, concerning the flow modelling and the numerical solution method. One of the challenges is the simulation of objects whose dynamics is determined by a two-way interaction with the incoming waves. The ‘traditional’ way of numerically coupling the flow dynamics with the dynamics of a floating object becomes unstable (or requires severe underrelaxation) when the added mass is larger than the mass of the object. To deal with this two-way interaction, a more simultaneous type of numerical coupling is being developed. The paper will focus on this issue. To demonstrate the quasi-simultaneous method, a number of simulation results for engineering applications from the offshore industry will be presented, such as the motion of a moored TLP platform in extreme waves, and a free-fall life boat dropping into wavy water.

Virtual-mechanism-based analysis of cooperative manipulation

2005 ◽  
Vol 219 (3) ◽  
pp. 315-323
Author(s):  
H Liu ◽  
J S Dai ◽  
H Y Xu ◽  
H Li
Keyword(s):  
Trajectory Planning ◽  
Manipulation Planning ◽  
End Points ◽  
New Approach ◽  
Cooperative Manipulation ◽  
Hypothetical Mechanism ◽  
End Effectors ◽  
Cooperative Manipulators ◽  
Mechanism Theory

This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.

scholarly journals Interval SLAM for underwater robots; a new experiment

2010 ◽  
Vol 43 (14) ◽  
pp. 42-47 ◽  
Author(s):  
Fabrice L.E. BARS ◽  
Alain BERTHOLOM ◽  
Jan SLIWKA ◽  
Luc JAULIN
Keyword(s):  
Underwater Robots

Supervised Neural Q_learning based Motion Control for Bionic Underwater Robots

2010 ◽  
Vol 7 (S4) ◽  
pp. S177-S184 ◽  
Author(s):  
Longxin Lin ◽  
Haibin Xie ◽  
Daibing Zhang ◽  
Lincheng Shen
Keyword(s):  
Motion Control ◽  
Underwater Robots
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