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Overview Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering
Laboratory for Underwater Systems and Technologies
Laboratory for Underwater Systems and Technologies
Research Activities in
the Laboratory for Underwater
Systems and Technologies
IUST ’10
IUST 10
15TH APRIL 2010
Education
• in the domain of navigation, guidance and control of unmanned marine vessels (surface and underwater),
Interdisciplinary and multidisciplinary cooperation
• for the purpose of underwater systems and technologies,
Promotion of high technology
• in sustainable development and exploitation of the sea, sub‐sea, rivers, lakes, technical waters, water reservoirs as
well as in maritime security.
Involving students, experts, researchers and scientists
• into interdsciplinary domain of high technology sustainable development in underwater areas.
Environmental protection,
• protection of cultural heritage (archaeology, etc.), preservation of fish and biological variety, protection and security of
ports and waterways using high technology
Development of UUVs
Development of UUVs
• for specific applications
Command,
Communication Underwater
Guidance & Control technology
Underwater
navigation Design
Cooperative
Applied mathematical control
& physical modelling
Adaptive &
Robust control
Project task:
independent wireless
platform for DP onboard status
motion in all communication minimal autonomy:
with feedback data indicator (DP,
directions of with main 1h
from webcam travelling, idle)
horizontal plane computer
MC-4 “Ines”
• Radio comunication • Bluetooth communication
• 4 thrusters – bilge pumps • 4 bow thrusters
1 D
1. Development and implementation of the software
l di l i f h f
support for the Iver2 AUV in MOOS IvP infrastructure
2 P
2. Positioning system for the UUV by use of the lighting
iti i t f th UUV b f th li hti
bulbs
3 Tether management system for ROVs
3. Tether management system for ROVs
4. Design of the manipulator for ROV Seamor 300F
5. MOOS‐based simulator for marine vessels
• Two laser
beams
projected on
a surface
re
• Image analysis (computationaly
challenging)
Softwa
• Improved image processing
• calibration
S
• Distance keeping
Distance keeping
T k
Task • Object measurement
IUST’10 – Intelligent Underwater Systems and Technologies • 15th April 2010 12
Distance keeping
Taskk • Obtain data for mathematical model identification
m = 4kg
m = 7.5kg