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6. Kinematic Control of UVMSs
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic...
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4. Fault Detection/Tolerance Strategies for AUVs and ROVs
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) received increasing attention in the last years due to their significant...
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A. Mathematical models
This Appendix reports the parameters of the different mathematical models used along the book.
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7. Dynamic Control of UVMSs
In Chap. 2 the equations of motion of Underwater Vehicle-Manipulator Systems (UVMSs) have been presented. Their expression in matrix form (2.71), is...
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9. Coordinated Control of Platoons of AUVs
The use of several AUVs to achieve fulfillment of a task might be of benefit in several situations: explorations of areas, de-mining [74], as in un...
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10. Concluding Remarks
The underwater environment is hostile, the communication is difficult and external disturbances can strongly affect the dynamics of the system...
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8. Interaction Control of UVMSs
In view of the development of an underwater vehicle able to perform a completely autonomous mission the capability of the vehicle to interact with...
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5. Experiments of Dynamic Control of a 6-DOF AUV
In this Chapter some experimental results on dynamic control of a 6-DOF AUV are given; practical aspects of the implementation are also discussed....
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1. Introduction
One of the first efforts to design an underwater vehicle is due to Leonardo Da Vinci. It has been found in the Codice Atlantico (Codex Atlanticus),...
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3. Dynamic Control of 6-DOF AUVs
In this Chapter, the problem of controlling an Autonomous Underwater Vehicle in 6-DOFs is approached. To effectively compensate the hydrodynamic...
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2. Modelling of Underwater Robots
In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies moving in a fluid or underwater manipulators has been studied in...
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State of the art for moth-flame optimization applied electric vehicles–solar–wind–hydro–thermal power system
The widespread adoption of electric vehicles (EVs) has a significant impact on the safe and reliable operation of the power system, and the...
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Lithium-ion battery parameter estimation based on variational and logistic map cuckoo search algorithm
Accurate estimation of battery parameters such as resistance, capacitance, and open-circuit voltage (OCV) is absolutely crucial for optimizing the...
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Wave Pressure on the Lateral Surface of Piles Depending on the Relative Open Area of the Piled Breakwater
The numerical hydrodynamic experiments on SolidWorks modeling of a pile grillage made it possible to determine the loads on and the reactions of...
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Hybrid chaotic ABC-CSO and GK-LIP techniques for smart grid competence and security
The integration of Internet of Things (IoT) technologies in the context of smart grid services holds the promise of transforming energy management...
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Cost analysis using hybrid gazelle and seagull optimization for home energy management system
Conventional electricity is more dependable, cost-effective, and robust, but it cannot meet the demands of the modern world. As a result, numerous...
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Conducting In Situ Full-Scale Tests of a Concrete Dam Response to Weak Dynamic Effects
The article presents the results of in situ tests of a concrete massive buttress dam under dynamic impacts of varying intensity. The study analyzes...
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Filtration Regime of the Chirkey Arch Dam and Its Rocky Base Using Field Observations
In the study, compliance with the requirements of regulatory documents for the filtration regime of the Chirkey dam and its rocky base is assessed,...
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Wave Propagation and Bottom Deformation in the Coastal Zone of the Sea Within the Framework of the Nonlinear Dispersion Theory of Shallow Water
Within the framework of the nonlinear dispersion theory of shallow water, a technique and a computer program were developed to model wave propagation...
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Physical Modeling of Island Structures
This study discusses the role of hydraulic simulation in solving issues in designs of island hydraulic structures. It also presents many examples of...