000 02797nam a22005175i 4500
001 978-3-319-02877-4
003 DE-He213
005 20200420220229.0
007 cr nn 008mamaa
008 131122s2014 gw | s |||| 0|eng d
020 _a9783319028774
_9978-3-319-02877-4
024 7 _a10.1007/978-3-319-02877-4
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aAntonelli, Gianluca.
_eauthor.
245 1 0 _aUnderwater Robots
_h[electronic resource] /
_cby Gianluca Antonelli.
250 _a3rd ed. 2014.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2014.
300 _aXXVII, 279 p. 151 illus., 62 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v96
505 0 _aModelling of Underwater Robots -- Dynamic Control of 6-DOF AUVs -- Fault Detection/Tolerance Strategies for AUVs and ROVs -- Experiments of Dynamic Control of a 6-DOF AUV -- Kinematic Control of UVMSs -- Dynamic Control of UVMSs -- Interaction Control of UVMSs -- Dynamic Control of 6-DOF AUVs -- Fault Detection/Tolerance Strategies for AUVs and ROVs -- Experiments of Dynamic Control of a 6-DOF AUV -- Kinematic Control of UVMSs -- Dynamic Control of UVMSs -- Interaction Control of UVMSs.
520 _aThis book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       .
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319028767
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v96
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-02877-4
912 _aZDB-2-ENG
942 _cEBK
999 _c52371
_d52371