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Simulation of unmanned underwater vehicles (UUVs) plays an important role in the development of submarine robots. The test of controllers in different simulated scenarios is crucial in order to avoid the lengthy development on the real vehicle. Robot simulators like Gazebo have been extensively used for this purpose, even if off-the-shelf physic engines do not consider one of the main aspects of hydrodynamics:...
Currently the inspection of industrial underwater structures is performed by remotely operated vehicles or by divers. Since the number of underwater structures keeps growing, e.g. due to new oil and gas fields or offshore wind farms, the need for a constantly available method to inspect these structures arises. The FlatFish project is an initiative of BG Group Brazil and the Brazilian Institute of...
To control any kind of unmanned underwater vehicle (UUV) it is important to know the dynamic model of the system. Creating the model itself is only the first step, the second is identifying the model's parameters. Due to the nonlinear and coupled characteristics of UUVs this is a complex and operationally demanding task. Several methods to identify the model parameters have been published in recent...
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