Autonomous underwater vehicle

of an autonomous underwater vehicle (AUV) and its consequent control using an ARM based SBC Friendly ARM mini2440. A rotary encoder and adxl303 triple axis accelerometer has been used to measure the position and acceleration respectively. The emphasis of this paper is given on the interfacing of the sensors with Friendly ARM mini2440 and the resultant control algorithm implemented on the embedded platform to control the designed testbench. The control algorithm implemented is PID control. It is to be noted that the entire project was done to study the movements of an underwater vehicle and the ensuing control strategies and the prototype…

INTRODUCTION This chapter reviews a stabilization of underactuated X4-AUV using nonlinear control and optimization technique. Firstly, an overview of underwater vehicles and it categorize are explained. Then, details explanation of AUVs and the problems in controlling AUV systems which fall into the underactuated system with nonholonomic constraints are presented. Backstepping is one of nonlinear control methods and previous research work used backstepping control given in this chapter…

Introduction SCUBA diving, exploring the depths under the water’s surface, uncovering hidden secrets the sands and coral have tried to hide. There is nothing like the sensation of being able to breathe underwater; however, what dangers are present every time a diver takes a breath underwater? A diver is exposed to all sorts of dangers while under water; increase pressure from venturing to further depths for example, and how the gasses plus the pressure can harm the human body. Most people would…

During my senior year of high school, I participated in an Office of Naval Research sponsored competition called SeaPerch. SeaPerch pits teams of students against each other to create a Remotely Operated Vehicle (ROV) and complete a series of underwater challenges. Every day for the majority of my senior year, I would go from school to work and then home, where I spent every moment of my free time working on my team’s ROV. Countless hours were spent devising new ideas, testing them, and watching…

Arizona. People are using ROVs, also known as Remotely Operated Vehicles, to explore the SS Arizona and other ships at Pearl Harbor. I definitely think that ROVs are critical for underwater research. In a different theory, people think that ROVs are useless, and that humans can do the same work that the ROVs can. However, ROVs are ABSOLUTELY valuable to underwater research because they can get to places that humans cannot reach, they can get pieces of information that we can’t see or grab…

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Dangers of Underwater Exploration There are over fifty careers that have a sort of connection to underwater exploration. Many people explore for a living and others only for personal interest such as scuba diving. There have been many theories about objects getting lost in the ocean and many people go deep in the ocean to find them. For example, the lost land of Atlantis is said to have silver and gold (Drye). Based on Plato’s writings, philosophers say that as punishment to the…

According to The Diving Equipment & Marketing Association (DEMA), “there are between 2.5 and 3.5 million active scuba divers in the US, and along with snorkelers, contribute $11 billion to the US gross domestic product” ("Fast Facts: Recreational Scuba Diving and Snorkeling" 1,7). These marine enthusiasts apply their passion and skills with dive operators throughout the world. These dive operators hold certification agency recognition in high regard, and benefit greatly from that recognition.…

Kevin Lee HELA 9 Ms.Weed 7 December, 2015 Personal Narrative The month of July 2015 I went on a life changing journey. I was going on a eight day liveaboard scuba diving trip in the Bahamas. This trip consisted of fourteen dives including a shark dive, and many other amazing types of dives. One day in late January of 2015 I got my call to this scuba diving trip. I was at my boy scout meeting on one of the last Mondays of January when they started to talk about the scuba diving trip in…

“The Blue Lankia starfish is so distinct when It comes to salt water that you can’t find those anywhere else. I got started around 1992 and the country was in a recession and there were really no jobs, especially for ex-military. Diving was a passion of mine and this hobby was a passion of mine, so I was able to keep things that others weren’t able to keep and I had special permits from the government to keep things that weren’t typically allowed just to see if we could keep them alive to pull…