Part B | 17
420 Part B Autonomous Ocean Vehicles, Subsystems and Control
17.15 T.J. Tarn, G.A. Shoults, S.P. Yang: Dynamic model of
an underwater vehicle with a robotic manipulator
using Kane’s method, Auton. Robots 3(2/3), 269–
283 (1996)
17.16 K. Ioi, K. Itoh: Modeling and simulation of an underwater manipulator, Adv. Robotics 4, 303–317
(1990)
17.17 I. Schjølberg, T. Fossen: Modeling and control
of underwater vehicle-manipulator systems, Proc.
3rd Conf. Mar. Craft Manouvering Control (1994)
pp. 45–57
17.18 K.N. Leabourne, S.M. Rock: Model development of
an underwater manipulator for coordinated armvehicle control, Proc. IEEE OCEANS‘98, Vol. 2 (1998)
pp. 941–946
17.19 M. Lee, H. Choi: A robust neural control for underwater robot manipulators, IEEE Trans. Neural Netw.
11(6), 1465–1470 (2000)
17.20 J.H. Ryu, D.S. Kwon, P.M. Lee: Control of underwater
manipulators mounted on a ROV using base force
information, Proc. IEEE ICRA‘01 (2001) pp. 3238–3243
17.21 M. Patel: Dynamics of Offshore Structures (Butterworths Scientific, Sevenoaks, 1989)
17.22 W. Troesch, S.K. Kim: Hydrodynamic forces acting
on cylinders oscillating at small amplitudes, J. Fluids Struct. 5, 113–126 (1991)
17.23 M. Hildebrandt, L. Christensen, J. Kerdels, J. Albiez, F. Kirchner: Realtime motion compensation
for ROV-based tele-operated underwater manipulators, Proc. of IEEE OCEANS‘09 (2009) pp. 1–6
17.24 C.P. Sayers, R.P. Paul, L.L. Whitcomb, D.R. Yoerger:
Teleprogramming for subsea teleoperation using acoustic communication, IEEE-JOE 23(1), 60–71
(1998)
17.25 L. LaPierre, P. Fraisse, N. M’Sirdi: Hybrid position/force control of a ROV with a manipulator, Proc.
IEEE OCEANS‘98, Vol. 2 (1998) pp. 931–935
17.26 P. Zhang, K. Tanaka, E. Shimizu, M. Ito: A teleoperating system for underwater manipulator to
practice a time limit task, Proc. IEEE ISIC (2003)
pp. 467–471
17.27 A.D. Bowen, D.R. Yoerger, C. Taylor, R. McCabe, J. Howland, D. Gomez-Ibanez, J.C. Kinsey,
M. Heintz, G. McDonald, D.B. Peters, B. Fletcher,
C. Young, J. Buescher, L.L. Whitcomb, S.C. Martin,
S.E. Webster, M.V. Jakuba: The nereus hybrid underwater robotic vehicle for global ocean science
operations to 11,000m depth, Proc. IEEE OCEANS‘08
(2008) pp. 1–10
17.28 M. Hildebrandt, J. Kerdels, J. Albiez, F. Kirchner:
A multi-layered controller approach for high precision end-effector control of hydraulic underwater manipulator systems, Proc. MTS/IEEE OCEANS‘09
(2009) pp. 1–5
17.29 H. Shim, B. Jun, P. Lee, H. Baek, J. Lee: Workspace
control system of underwater tele-operated manipulators on an ROV, IEEE-JOE 37, 1036–1047 (2010)
17.30 R.J. Anderson, M.W. Spong: Bilateral control of
tele-operators with time delay, IEEE Trans. Autom.
Control 34(5), 494–501 (1989)
17.31 B. Sciliano, L. Villani: Robot Force Control, The
Springer International Series Engineering and
Computer Science, Vol. 540 (Springer, New York
2000)
17.32 S. Hutchinson, G. Hager, I.C. Corke: A tutorial on
visual servo control, IEEE Trans. Robotics Autom.
12(5), 1465–1470 (1996)
17.33 F. Chaumette, S. Hutchinson: Visual servo control,
Part 1: Basic approaches, IEEE Robotics Autom. Mag.
13(4), 82–90 (2006)
17.34 J. Kerdels, J. Albiez, F. Kirchner: Sensorless computer control of an underwater DC manipulator,
Proc. of MTS/IEEE OCEANS‘08 (2008) pp. 1–5
17.35 G. Marani, S.K. Choi, J. Yuh: Underwater autonomous manipulation for intervention missions
AUVs, IEEE-JOE 36(1), 15–23 (2009)
17.36 H. Shao, K. Nomani: Bilateral control of tele-hand
system with neuro-fuzzy scheme, Int. J. Indust.
Robot 33(2), 216–227 (2006)
17.37 N. Chopra, M.W. Spong, R. Lozano: Synchronization
of bilateral teleoperators with time delay, Automatica 44, 2142–2148 (2008)
17.38 B. Drury: Control Techniques Drives and Controls
Handbook, The Institute of Electrical Engineers
(Athenaeum, Gateshead 2001)
17.39 F. Chaumette, P. Rives, B. Espiau: Positioning of
a robot with respect to an object, tracking it and
estimating its velocity by visual servoing, Proc. IEEE
ICRA‘91, Vol. 3 (1991) pp. 2248–2253
17.40 F. Chaumette, E. Malis: 2 1/2 d visual servoing:
A possible solution to improve image-based and
position-based visual servoings, Proc. IEEE ICRA‘00,
Vol. 3 (2000) pp. 630–635
17.41 D. Dementhon, L. Davis: Model-based object pose
in 25 lines of codes, Int. J. Comput. Vis. 15, 123–141
(1995)
17.42 B. Espiau, F. Chaumette, P. Rives: A new approach
to visual servoing in robotics, IEEE Trans. Robotics
Autom. 8(2), 313–326 (1992)
17.43 A.C. Sanderson, L.E. Weiss: Adaptive visual servo
control of robots. In: Robot Vision, International Trends in Manufacturing Technology, ed. by
A. Pugh (Springer, Berlin 1983) pp. 107–116
17.44 T. Ranstrom: Visual Servoing: Summary Report 1301694 (Schilling Robotics, Davis, 2011)
17.45 Sound Metrics Corp.: DIDSON Sonars (2013), http://
www.soundmetrics.com/Products/DIDSON-Sonars
17.46 Teledyne BlueView: High resolution multibeam
imaging sonar (2013), http://www.blueview.com/
17.47 S.C. Yu, T.W. Kim, G. Marani, S.K. Choi: Real-time 3D sonar image recognition for underwater vehicles,
Proc. UT‘07 & SSC‘07 (2007) pp. 142–146
17.48 S.C. Yu: Development of real-time acoustic image
recognition system using by autonomous marine
vehicle, IEEE-JOE 35(1), 90–105 (2008)
17.49 T.W. Kim, S.C. Yu, J. Yuh: Neural network-based
underwater image classification for AUV, Proc. 17th
IFAC World Congress (2008) pp. 15991–15995
17.50 G. Marani, J. Yuh, S.K. Choi: Real-time center of
buoyancy identification for optimal hovering in
autonomous underwater intervention, Intell. Serv.
Robotics 3(3), 175–182 (2010)
17.51 Robaid: SAUVIM robot completed its first fully
autonomous mission (2010), http://www.robaid.
420 Part B Autonomous Ocean Vehicles, Subsystems and Control
17.15 T.J. Tarn, G.A. Shoults, S.P. Yang: Dynamic model of
an underwater vehicle with a robotic manipulator
using Kane’s method, Auton. Robots 3(2/3), 269–
283 (1996)
17.16 K. Ioi, K. Itoh: Modeling and simulation of an underwater manipulator, Adv. Robotics 4, 303–317
(1990)
17.17 I. Schjølberg, T. Fossen: Modeling and control
of underwater vehicle-manipulator systems, Proc.
3rd Conf. Mar. Craft Manouvering Control (1994)
pp. 45–57
17.18 K.N. Leabourne, S.M. Rock: Model development of
an underwater manipulator for coordinated armvehicle control, Proc. IEEE OCEANS‘98, Vol. 2 (1998)
pp. 941–946
17.19 M. Lee, H. Choi: A robust neural control for underwater robot manipulators, IEEE Trans. Neural Netw.
11(6), 1465–1470 (2000)
17.20 J.H. Ryu, D.S. Kwon, P.M. Lee: Control of underwater
manipulators mounted on a ROV using base force
information, Proc. IEEE ICRA‘01 (2001) pp. 3238–3243
17.21 M. Patel: Dynamics of Offshore Structures (Butterworths Scientific, Sevenoaks, 1989)
17.22 W. Troesch, S.K. Kim: Hydrodynamic forces acting
on cylinders oscillating at small amplitudes, J. Fluids Struct. 5, 113–126 (1991)
17.23 M. Hildebrandt, L. Christensen, J. Kerdels, J. Albiez, F. Kirchner: Realtime motion compensation
for ROV-based tele-operated underwater manipulators, Proc. of IEEE OCEANS‘09 (2009) pp. 1–6
17.24 C.P. Sayers, R.P. Paul, L.L. Whitcomb, D.R. Yoerger:
Teleprogramming for subsea teleoperation using acoustic communication, IEEE-JOE 23(1), 60–71
(1998)
17.25 L. LaPierre, P. Fraisse, N. M’Sirdi: Hybrid position/force control of a ROV with a manipulator, Proc.
IEEE OCEANS‘98, Vol. 2 (1998) pp. 931–935
17.26 P. Zhang, K. Tanaka, E. Shimizu, M. Ito: A teleoperating system for underwater manipulator to
practice a time limit task, Proc. IEEE ISIC (2003)
pp. 467–471
17.27 A.D. Bowen, D.R. Yoerger, C. Taylor, R. McCabe, J. Howland, D. Gomez-Ibanez, J.C. Kinsey,
M. Heintz, G. McDonald, D.B. Peters, B. Fletcher,
C. Young, J. Buescher, L.L. Whitcomb, S.C. Martin,
S.E. Webster, M.V. Jakuba: The nereus hybrid underwater robotic vehicle for global ocean science
operations to 11,000m depth, Proc. IEEE OCEANS‘08
(2008) pp. 1–10
17.28 M. Hildebrandt, J. Kerdels, J. Albiez, F. Kirchner:
A multi-layered controller approach for high precision end-effector control of hydraulic underwater manipulator systems, Proc. MTS/IEEE OCEANS‘09
(2009) pp. 1–5
17.29 H. Shim, B. Jun, P. Lee, H. Baek, J. Lee: Workspace
control system of underwater tele-operated manipulators on an ROV, IEEE-JOE 37, 1036–1047 (2010)
17.30 R.J. Anderson, M.W. Spong: Bilateral control of
tele-operators with time delay, IEEE Trans. Autom.
Control 34(5), 494–501 (1989)
17.31 B. Sciliano, L. Villani: Robot Force Control, The
Springer International Series Engineering and
Computer Science, Vol. 540 (Springer, New York
2000)
17.32 S. Hutchinson, G. Hager, I.C. Corke: A tutorial on
visual servo control, IEEE Trans. Robotics Autom.
12(5), 1465–1470 (1996)
17.33 F. Chaumette, S. Hutchinson: Visual servo control,
Part 1: Basic approaches, IEEE Robotics Autom. Mag.
13(4), 82–90 (2006)
17.34 J. Kerdels, J. Albiez, F. Kirchner: Sensorless computer control of an underwater DC manipulator,
Proc. of MTS/IEEE OCEANS‘08 (2008) pp. 1–5
17.35 G. Marani, S.K. Choi, J. Yuh: Underwater autonomous manipulation for intervention missions
AUVs, IEEE-JOE 36(1), 15–23 (2009)
17.36 H. Shao, K. Nomani: Bilateral control of tele-hand
system with neuro-fuzzy scheme, Int. J. Indust.
Robot 33(2), 216–227 (2006)
17.37 N. Chopra, M.W. Spong, R. Lozano: Synchronization
of bilateral teleoperators with time delay, Automatica 44, 2142–2148 (2008)
17.38 B. Drury: Control Techniques Drives and Controls
Handbook, The Institute of Electrical Engineers
(Athenaeum, Gateshead 2001)
17.39 F. Chaumette, P. Rives, B. Espiau: Positioning of
a robot with respect to an object, tracking it and
estimating its velocity by visual servoing, Proc. IEEE
ICRA‘91, Vol. 3 (1991) pp. 2248–2253
17.40 F. Chaumette, E. Malis: 2 1/2 d visual servoing:
A possible solution to improve image-based and
position-based visual servoings, Proc. IEEE ICRA‘00,
Vol. 3 (2000) pp. 630–635
17.41 D. Dementhon, L. Davis: Model-based object pose
in 25 lines of codes, Int. J. Comput. Vis. 15, 123–141
(1995)
17.42 B. Espiau, F. Chaumette, P. Rives: A new approach
to visual servoing in robotics, IEEE Trans. Robotics
Autom. 8(2), 313–326 (1992)
17.43 A.C. Sanderson, L.E. Weiss: Adaptive visual servo
control of robots. In: Robot Vision, International Trends in Manufacturing Technology, ed. by
A. Pugh (Springer, Berlin 1983) pp. 107–116
17.44 T. Ranstrom: Visual Servoing: Summary Report 1301694 (Schilling Robotics, Davis, 2011)
17.45 Sound Metrics Corp.: DIDSON Sonars (2013), http://
www.soundmetrics.com/Products/DIDSON-Sonars
17.46 Teledyne BlueView: High resolution multibeam
imaging sonar (2013), http://www.blueview.com/
17.47 S.C. Yu, T.W. Kim, G. Marani, S.K. Choi: Real-time 3D sonar image recognition for underwater vehicles,
Proc. UT‘07 & SSC‘07 (2007) pp. 142–146
17.48 S.C. Yu: Development of real-time acoustic image
recognition system using by autonomous marine
vehicle, IEEE-JOE 35(1), 90–105 (2008)
17.49 T.W. Kim, S.C. Yu, J. Yuh: Neural network-based
underwater image classification for AUV, Proc. 17th
IFAC World Congress (2008) pp. 15991–15995
17.50 G. Marani, J. Yuh, S.K. Choi: Real-time center of
buoyancy identification for optimal hovering in
autonomous underwater intervention, Intell. Serv.
Robotics 3(3), 175–182 (2010)
17.51 Robaid: SAUVIM robot completed its first fully
autonomous mission (2010), http://www.robaid.