The full text of this article
Layered mission control architecture and strategy for crawling underwater cleaning robot
by Houssam Albitar; Kinan Dandan; Anani Ananiev; Ivan Kalaykov
International Journal of Mechatronics and Automation (IJMA), Vol. 5, No. 2/3, 2015
Abstract: This paper presents the mechanical design and the control system architecture of an underwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented here has been designed to improve the productivity, reduce the environmental impacts, and exclude the hazards for the operators. The control system has a layered structure which is distributed into two blocks: cleaning robot, and on-board base station connected with power and control cables and a water hose, to facilitate different modes of operations and to increase the system reliability. A low level control has been implemented on the robotic platform. The onboard station designed to be in different layers of the control system: manual, semiautonomous and autonomous modes. A scaled prototype has been implemented and tested to prove the concept, and to make certain that the mechanical design and the chosen control system are perfectly suited to the main functions of the robotic system.
Online publication date: Mon, 18-Apr-2016
is only available to individual subscribers or to users at subscribing institutions.
Go to Inderscience Online Journals to access the Full Text of this article.
Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.
Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable).
See our Orders page to subscribe.
If you still need assistance, please email firstname.lastname@example.org