Search results for "Underwater vehicle"
showing 4 items of 14 documents
Teleradiologie nach Röntgenverordnung - beispielhafte Anwendung der Open-Source-Software SecTelMed
2005
Purpose: Establishing a teleradiology connection according to the Rontgenverordnung (RoV) between a peripheral hospital and a university clinic will contribute to improve the radiological emergency treatment on weekends, holidays and at night. It will also better the medical care for patients and help to lower the costs. Materials and Methods: By using the open source software SecTelMed, the radiological picture is transferred via an internet-linked SSH communication server. The integration of the teleradiological data transfer into the actual workflow is attained by using the already existing PACS infrastructure. While its installation is still under construction, it is actually employed f…
A Low Cost Customizable Micro-ROV for Environmental Research - Applications, Advances and Challenges
2016
Summary Several shallow submarines areas are characterized by considerable releases of hydrocarbon gases, which, during earthquakes or volcanic activity, may suddenly and violently occur. In some instances, changes in chemical and physical properties of gas emissions, which are generated by geothermal systems connected to the volcanoes’ plumbing system, are important precursors of volcanic activity and useful indices for the study of the geothermal field. Furthermore, some superficial structures such faults, landslide slopes or archaeological relics should be studied with such a high detail that geophysical and bathymetric surveys are unable to provide. In response to the needs increasingly…
Megabenthos Underwater Video (MUV): a new device to evaluate species distribution in hard-to-reach marine areas
2021
A device, called Megabenthos Underwater Video (MUV), was designed and built for the counting and the size estimate of benthic organisms in hard-to-reach areas. Since 2014 Cassiopea andromeda, an invasive alien jellyfish in the Mediterranean Sea with benthic behavior, colonized a recreational harbor (Cala) of Palermo with a stable population. Studying the species distribution in this area with classical methods (such as visual census, ROV, etc.) was not applicable due to the large presence of obstacles (ropes, anchor cables, boats) and to dive difficulties in these types of area. The MUV was tested from 2017 to 2018 for the study of the spatial-temporal distribution of C. andromeda in the Ca…
Adaptive Control of Underactuated Underwater Vehicles
2008
This paper deals with a control strategy for underactuated underwater vehicles whose target is trajectory tracking. A cascade approach is employed which brings to a control law consisting of: a) an outer loop, obtained from the vehicle kinematic model, which forces this model to track the reference trajectory; b) an inner adaptive control loop which forces the system to track the reference signals given by the outer control loop. Conditions for asymptotic tracking of the trajectory and boundness of the unactuated velocities are given. Simulation tests illustrate the proposed approach.