NDLI: Design and Validation of a Robotic Control Law for Observation of Deep-Ocean Jellyfish

Content Provider	IEEE Xplore Digital Library
Author	Rife, J.H. Rock, S.M.
Copyright Year	2004
Abstract	Limits on the technology available to marine scientists to study jellyfish in situ motivate the development of an automated robotic tracking system for deployment in the deep ocean. This paper synthesizes a control strategy for robotic jellyfish tracking with a remotely operated vehicle (ROV). The control strategy employs three feedback loops tailored to the jelly-tracking task. A primary loop provides moderate proportional-derivative feedback to track animal swimming motion without producing excessive hydrodynamic disturbances, which might impact the behavior of the animal under study. A second boundary-control loop provides aggressive thrust, in a direction away from the target and only when needed to prevent loss of the target outside the boundaries of the vision sensor. A third disturbance-accommodation loop counters low-frequency bias forces without fighting commands issued by the human pilot. The complete system was implemented and tested in the Monterey Bay using the Monterey Bay Aquarium Research Institute's ROV Ventana. The control system autonomously tracked six animals for durations longer than 15 min, including a Plychogena medusa which was tracked for 89 min
Sponsorship	IEEE Robotics and Automation Society
Starting Page	282
Ending Page	291
Page Count	10
File Size	954191
File Format	PDF
ISSN	15523098
Volume Number	22
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Robotics and automation Automatic control Remotely operated vehicles Animals Feedback loop Target tracking Marine technology Oceans Control system synthesis visual tracking Jellyfish remotely operated vehicle (ROV) underwater vehicle control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Inspection-Class Remotely Operated Vehicles—A Review

Telerobitics and Deep Ocean Science

A pilot-aid for ROV based tracking of gelatinous animals in the midwater

Hybrid robot crawler / flyer for use in underwater archaeology

Visual tracking of jellyfish in situ

A Hardware Proof of Concept of a Sailing Robot for Ocean Observation

Development, depth control and stability analysis of an underwater Remotely Operated Vehicle (ROV)

Controlling the dynamic positioning of a ROV

Design of An Omni-Directional Underwater Robotic Vehicle and Its Coordinated Motion Control

Design and Validation of a Robotic Control Law for Observation of Deep-Ocean Jellyfish

Similar Documents

Inspection-Class Remotely Operated Vehicles—A Review

Telerobitics and Deep Ocean Science

A pilot-aid for ROV based tracking of gelatinous animals in the midwater

Hybrid robot crawler / flyer for use in underwater archaeology

Visual tracking of jellyfish in situ

A Hardware Proof of Concept of a Sailing Robot for Ocean Observation

Development, depth control and stability analysis of an underwater Remotely Operated Vehicle (ROV)

Controlling the dynamic positioning of a ROV

Design of An Omni-Directional Underwater Robotic Vehicle and Its Coordinated Motion Control

Design and Validation of a Robotic Control Law for Observation of Deep-Ocean Jellyfish