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@article{pritchard1969statistical,
title={Statistical bibliography or bibliometrics},
author={Pritchard, Alan and others},
journal={Journal of documentation},
volume={25},
number={4},
pages={348--349},
year={1969},
publisher={New York}
}
@article{costa2020ciencia,
title={CI{\^E}NCIA DA INFORMA{\c{C}}{\~A}O E BIBLIOMETRIA: mapeamento da produ{\c{c}}{\~a}o cient{\'\i}fica em peri{\'o}dicos brasileiros na tem{\'a}tica Educa{\c{c}}{\~a}o a dist{\^a}ncia},
author={Costa, Maria Elizabeth O and Oliveira, Dalgiza Andrade},
journal={BIBLOS},
volume={34},
number={1},
pages={19--44},
year={2020}
}
@phdthesis{maricato2010dinamica,
title={Din{\^a}mica das rela{\c{c}}{\~o}es entre Ci{\^e}ncia e Tecnologia: estudo Bibliom{\'e}trico e Cientom{\'e}trico de m{\'u}ltiplos indicadores de artigos e patentes em biodiesel},
author={Maricato, Jo{\~a}o de Melo},
year={2010},
school={Universidade de S{\~a}o Paulo}
}
@article{Mohan2015,
abstract = {This paper addresses a robust tracking control of an autonomous underwater vehicle-manipulator system (UVMS) based on terminal sling mode control in task space along with a disturbance observer. The effectiveness of the proposed scheme is demonstrated using numerical simulations having a serial planar manipulator (two rotary joints) on an underwater vehicle in a horizontal plane. An inverse dynamic solution for the system is obtained using the Newton-Euler method incorporating hydrodynamic and dynamic coupling effects. Performance of the proposed scheme is compared under various control schemes and demonstrated numerically for a predefined trajectory of the end effector (in task space).},
annote = {Neste artigo, com a adi{\c{c}}{\~{a}}o de mais um autor, eles utilizam o mesmo conceito do artigo `Coordinated motion control in task space...`, adicionando a informa{\c{c}}{\~{a}}o de um novo m{\'{e}}todo proposto de movimenta{\c{c}}{\~{a}}o, baseado em Sliding mode control. Eles afirman que a taxa de mudan{\c{c}}a da perturba{\c{c}}{\~{a}}o agindo no manipulador {\'{e}} insignificante em compara{\c{c}}{\~{a}}o com a din{\^{a}}mica de erro de estimativa, ou seja, perturba{\c{c}}{\~{o}}es de varia{\c{c}}{\~{a}}o lenta, e essa suposi{\c{c}}{\~{a}}o n{\~{a}}o {\'{e}} excessivamente restritiva e {\'{e}} comumente feito na literatura do rob{\^{o}} manipulador underwater.},
author = {Mohan, Santhakumar and Kim, Jinwhan and Singh, Yogesh},
doi = {10.1145/2783449.2783451},
isbn = {9781450333566},
journal = {ACM International Conference Proceeding Series},
keywords = {Autonomous underwater vehicle-manipulator system,Position tracking,Sliding mode control,Task space control,Vehicle-manipulator interaction,bili},
mendeley-tags = {bili},
title = {{A robust task space position tracking control of an underwater vehicle manipulator system}},
volume = {02-04-July},
year = {2015}
}
@article{MohanKim2015,
annote = {Neste artigo o autor fala sobre o controle de posicionamento do UVMS, observando o problema de pertuba{\c{c}}{\~{a}}o no ve{\'{i}}culo, para garantir que o manipulador atinja seu objetivo final.},
author = {Mohan, Santhakumar and Kim, Jinwhan},
doi = {10.1016/j.oceaneng.2015.05.011},
issn = {00298018},
journal = {Ocean Engineering},
keywords = {Autonomous underwater vehicle-manipulator system,Coordinated motion control,Disturbance observer,Task space controller,Vehicle-manipulator interactions,bili},
mendeley-tags = {bili},
pages = {155--167},
publisher = {Elsevier},
title = {{Coordinated motion control in task space of an autonomous underwater vehicle-manipulator system}},
url = {http://dx.doi.org/10.1016/j.oceaneng.2015.05.011},
volume = {104},
year = {2015}
}
@article{MohanPIDKim2015,
abstract = {This article investigates a new robust nonlinear proportional integral derivative (PID) position tracking control applied on a serial underwater spatial manipulator with three degrees of freedom. The proposed controller integrates the known approximated inverse dynamic model output as a model-base portion of the controller. It uses a feed forward term to enhance the control activity with indulgence from known desired acceleration vector. The proposed control scheme carries an estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodelled dynamics. Finally, it has a decoupled nonlinear PID controller as a feedback portion to enhance closed-loop stability and account for the estimation error of uncertainties. The usefulness and competency of the proposed approach are demonstrated with the help of numerical simulations.},
annote = {Este artigo aborda os conceitos sobre a din{\^{a}}mica do movimento dos manipuladores underwater. Neste artigo ele faz o uso do m{\'{e}}todo PID para realizar o trajectory tracking do manipulador e faz a compara{\c{c}}{\~{a}}o com os outro m{\'{e}}todos: CTC, SMC e HBC. Pelo que deu pra entender, o manipulador precisa estar est{\'{a}}vel para que ele consiga alcan{\c{c}}ar seu objetivo. Essa estabilidade {\'{e}} feita com o controle do UVMS. O caso de teste escolhido no artigo exige que o manipulador comece a partir de uma posi{\c{c}}{\~{a}}o inicial definida pelo usu{\'{a}}rio e retorne {\`{a}} mesma posi{\c{c}}{\~{a}}o depois de percorrer uma trajet{\'{o}}ria predefinida.},
author = {Mohan, Santhakumar and Kim, Jinwhan},
doi = {10.1109/AIM.2015.7222792},
file = {:C\:/Users/Anderson Queiroz/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Mohan, Kim - 2015 - Robust PID control for position tracking of an underwater manipulator.pdf:pdf},
isbn = {9781467391078},
journal = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM},
keywords = {bili},
mendeley-tags = {bili},
pages = {1707--1712},
publisher = {IEEE},
title = {{Robust PID control for position tracking of an underwater manipulator}},
volume = {2015-Augus},
year = {2015}
}
@article{Wei2018,
abstract = {In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human–Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.},
annote = {Check},
author = {Wei, Kun and Ren, Bingyin},
doi = {10.3390/s18020571},
issn = {14248220},
journal = {Sensors (Switzerland)},
keywords = {Autonomous obstacle avoidance,Dynamic path planning,Dynamic unstructured environment,RRT algorithm,Robotic manipulator,start},
mendeley-tags = {start},
month = {feb},
number = {2},
pmid = {29438320},
publisher = {MDPI AG},
title = {{A method on dynamic path planning for robotic manipulator autonomous obstacle avoidance based on an improved RRT algorithm}},
volume = {18},
year = {2018}
}
@book{Stefan2006,
abstract = {Cover title. "IEEE Catalog Number: 06CH37780D."},
author = {{Stefan Klanke, Dmitry Lebedev, Robert Haschke, Jochen Steil and Helge Ritter}},
isbn = {142440259X},
keywords = {start},
mendeley-tags = {start},
pages = {5774},
publisher = {IEEE},
title = {{Dynamic Path Planning for a 7-DOF Robot Arm}},
year = {2006}
}
@article{Vannoy2008,
abstract = {This paper introduces a novel and general real-time adaptive motion planning (RAMP) approach suitable for planning trajectories of high-DOF or redundant robots, such as mobile manipulators, in dynamic environments with moving obstacles of unknown trajectories. The RAMP approach enables simultaneous path and trajectory planning and simultaneous planning and execution of motion in real time. It facilitates real-time optimization of trajectories under various optimization criteria, such as minimizing energy and time and maximizing manipulability. It also accommodates partially specified task goals of robots easily. The approach exploits redundancy in redundant robots (such as locomotion versus manipulation in a mobile manipulator) through loose coupling of robot configuration variables to best achieve obstacle avoidance and optimization objectives. The RAMP approach has been implemented and tested in simulation over a diverse set of task environments, including environments with multiple mobile manipulators. The results (and also the accompanying video) show that the RAMP planner, with its high efficiency and flexibility, not only handles a single mobile manipulator well in dynamic environments with various obstacles of unknown motions in addition to static obstacles, but can also readily and effectively plan motions for each mobile manipulator in an environment shared by multiple mobile manipulators and other moving obstacles. {\textcopyright} 2008 IEEE.},
author = {Vannoy, John and Xiao, Jing},
doi = {10.1109/TRO.2008.2003277},
issn = {15523098},
journal = {IEEE Transactions on Robotics},
keywords = {Adaptive,Dynamic obstacles of unknown motion,Loose coupling,Mobile manipulators,Partially specified goal,Real time,Redundant robots,Trajectory optimization,start},
mendeley-tags = {start},
number = {5},
pages = {1199--1212},
title = {{Real-time adaptive motion planning (RAMP) of mobile manipulators in dynamic environments with unforeseen changes}},
volume = {24},
year = {2008}
}
@article{Muglikar2020,
abstract = {In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice for this task, due to several inherent limitations, such as weak geometric reasoning and poor scalability. We propose a voxel-map representation to efficiently retrieve map points for visual SLAM. In particular, we organize the map points in a regular voxel grid. Visible points from a camera pose are queried by sampling the camera frustum in a raycasting manner, which can be done in constant time using an efficient voxel hashing method. Compared with keyframes, the retrieved points using our method are geometrically guaranteed to fall in the camera field-of-view, and occluded points can be identified and removed to a certain extend. This method also naturally scales up to large scenes and complicated multi-camera configurations. Experimental results show that our voxel map representation is as efficient as a keyframe map with 5 keyframes and provides significantly higher localization accuracy (average 46% improvement in RMSE) on the EuRoC dataset. The proposed voxel-map representation is a general approach to a fundamental functionality in visual SLAM and widely applicable.},
archivePrefix = {arXiv},
arxivId = {2003.02247},
author = {Muglikar, Manasi and Zhang, Zichao and Scaramuzza, Davide},
doi = {10.1109/ICRA40945.2020.9197357},
eprint = {2003.02247},
isbn = {9781728173955},
issn = {10504729},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
pages = {4181--4187},
title = {{Voxel Map for Visual SLAM}},
year = {2020}
}
@article{sarkar2001coordinated,
title={Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization},
author={Sarkar, Nilanjan and Podder, Tarun Kanti},
journal={IEEE Journal of Oceanic Engineering},
volume={26},
number={2},
pages={228--239},
year={2001},
publisher={IEEE}
}
@article{Mohan2015Londhe,
abstract = {This paper addresses a robust tracking control of an autonomous underwater vehicle-manipulator system (UVMS) based on terminal sling mode control in task space along with a disturbance observer. The effectiveness of the proposed scheme is demonstrated using numerical simulations having a serial planar manipulator (two rotary joints) on an underwater vehicle in a horizontal plane. An inverse dynamic solution for the system is obtained using the Newton-Euler method incorporating hydrodynamic and dynamic coupling effects. Performance of the proposed scheme is compared under various control schemes and demonstrated numerically for a predefined trajectory of the end effector (in task space).},
annote = {Este artigo utiliza o PID para controle da din{\^{a}}mica do UVMS.},
author = {Mohan, Santhakumar and Londhe, Pandurang and Patre, Balasaheb},
doi = {10.1145/2783449.2783451},
isbn = {9781450333566},
journal = {ACM International Conference Proceeding Series},
keywords = {Autonomous underwater vehicle-manipulator system,Position tracking,Sliding mode control,Task space control,Vehicle-manipulator interaction,bili},
mendeley-tags = {bili},
pages = {1713--1718},
publisher = {IEEE},
title = {{Robust nonlinear task spae position tracking controlof an autonomous underwater vehicle-manipulator system}},
volume = {02-04-July},
year = {2015}
}
@article{Cai2019,
author = {Cai, Mingxue and Wang, Yu and Wang, Shuo and Wang, Rui and Tan, Min},
keywords = {adaptive smc,bili,depth control,ros,underwater vehicle-manipulator system},
pages = {4576--4580},
publisher = {Technical Committee on Control Theory, Chinese Association of Automation},
title = {{ROS-Based Depth Control for Hybrid-Driven Underwater Vehicle-Manipulator System}},
year = {2019}
}
@inproceedings{zhao2018depth,
title={Depth control of an underwater flight vehicle at low speeds and depths},
author={Zhao, Shuo and Feng, Zhengping and Zheng, Tianhai and Pan, Wanjun},
booktitle={2018 37th Chinese Control Conference (CCC)},
pages={3938--3942},
year={2018},
organization={IEEE}
}
@article{Rosinol2019,
abstract = {We provide an open-source C++ library for realtime metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS-Mono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic labeling in 3D. Kimera is designed with modularity in mind and has four key components: a visual-inertial odometry (VIO) module for fast and accurate state estimation, a robust pose graph optimizer for global trajectory estimation, a lightweight 3D mesher module for fast mesh reconstruction, and a dense 3D metric-semantic reconstruction module. The modules can be run in isolation or in combination, hence Kimera can easily fall back to a state-of-the-art VIO or a full SLAM system. Kimera runs in real-time on a CPU and produces a 3D metric-semantic mesh from semantically labeled images, which can be obtained by modern deep learning methods. We hope that the flexibility, computational efficiency, robustness, and accuracy afforded by Kimera will build a solid basis for future metric-semantic SLAM and perception research, and will allow researchers across multiple areas (e.g., VIO, SLAM, 3D reconstruction, segmentation) to benchmark and prototype their own efforts without having to start from scratch.},
author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
issn = {23318422},
journal = {arXiv},
keywords = {start},
mendeley-tags = {start},
title = {{Kimera: An open-source library for real-time metric-semantic localization and mapping}},
year = {2019}
}
@article{ozer2011detection,
title={Detection of vertical root fractures by using cone beam computed tomography with variable voxel sizes in an in vitro model},
author={{\"O}zer, Senem Yi{\u{g}}it},
journal={Journal of endodontics},
volume={37},
number={1},
pages={75--79},
year={2011},
publisher={Elsevier}
}
@article{de2013detection,
title={Detection of periimplant fenestration and dehiscence with the use of two scan modes and the smallest voxel sizes of a cone-beam computed tomography device},
author={de-Azevedo-Vaz, Sergio Lins and de Faria Vasconcelos, Karla and Neves, Frederico Sampaio and Melo, Saulo Leonardo Sousa and Campos, Paulo S{\'e}rgio Flores and Haiter-Neto, Francisco},
journal={Oral surgery, oral medicine, oral pathology and oral radiology},
volume={115},
number={1},
pages={121--127},
year={2013},
publisher={Elsevier}
}
@article{burri2016euroc,
title={The EuRoC micro aerial vehicle datasets},
author={Burri, Michael and Nikolic, Janosch and Gohl, Pascal and Schneider, Thomas and Rehder, Joern and Omari, Sammy and Achtelik, Markus W and Siegwart, Roland},
journal={The International Journal of Robotics Research},
volume={35},
number={10},
pages={1157--1163},
year={2016},
publisher={SAGE Publications Sage UK: London, England}
}
@article{lavalle2001rapidly,
title={Rapidly-exploring random trees: Progress and prospects},
author={LaValle, Steven M and Kuffner, James J and Donald, BR and others},
journal={Algorithmic and computational robotics: new directions},
volume={5},
pages={293--308},
year={2001}
}
@inproceedings{zang2015path,
title={Path planning based on Bi-RRT algorithm for redundant manipulator},
author={Zang, XZ and Yu, WT and Zhang, L and Iqbal, Sajid},
booktitle={2015 International Conference on Electrical, Automation and Mechanical Engineering},
pages={189--191},
year={2015},
organization={Atlantis Press}
}
@article{Buss2005,
abstract = {We introduce two methods for the inverse kinematics of multibodies with multiple end effectors. The first method clamps the distance of the target positions. Experiments show this is effective in reducing oscillation when target positions are unreachable. The second method is an extension of damped least squares called selectively damped least squares (SDLS) which adjusts the damping factor separately for each singular vector of the Jacobian singular value decomposition based on the difficulty of reaching the target positions. SDLS has advantages in converging in fewer iterations and in not requiring ad hoc damping constants.},
annote = {-----
SDLS},
author = {Buss, Samuel R. and Kim, Jin-Su},
doi = {10.1080/2151237x.2005.10129202},
issn = {1086-7651},
journal = {Journal of Graphics Tools},
keywords = {naive,start},
mendeley-tags = {naive,start},
number = {3},
pages = {37--49},
title = {{Selectively Damped Least Squares for Inverse Kinematics}},
volume = {10},
year = {2005}
}
@article{klein1988numerical,
title={Numerical Filtering for the Operation of Robotic Manipulators through Kinematically Singular},
author={Klein, Charles A},
journal={Journal of Robotic Systems},
volume={5},
number={6},
pages={527--552},
year={1988}
}
@phdthesis{nishitani2016localizaccao,
title={Localiza{\c{c}}{\~a}o baseada em odometria visual},
author={Nishitani, Andr{\'e} Toshio Nogueira},
year={2016},
school={Universidade de S{\~a}o Paulo}
}
@article{Kanakia2012,
abstract = {This paper describes integration and use of the OpenRAVE, ikfast module as an inverse kinematics solver for the Correll Lab Arm Manipulator (CLAM arm). It also explains the general working of the Robot Operating System (ROS) in the context of motion planning and control of robotic arms.},
author = {Kanakia, Anshul},
keywords = {start},
mendeley-tags = {start},
pages = {1--4},
title = {{Inverse Kinematics using ikfast on a 7 DOF Robotic Arm}},
year = {2012}
}
@misc{ikfasttuto,
title = {IKFast tutorial.},
author = {SRI International},
year = {2013},
howpublished = {http://docs.ros.org/en/hydro/api/moveit\_ikfast/html/doc/ikfast\_tutorial.html},
note = {Accessed: 2021-03-17}
}
@article{Londhe2017,
abstract = {In this paper, a robust single-input fuzzy logic control Robust Single Input Fuzzy Logic Controller (RSIFLC) scheme is proposed and applied for task-space trajectory control of an autonomous underwater vehicle manipulator system (AUVMS) employed for underwater manipulation tasks. The effectiveness of the proposed control scheme is numerically demonstrated on a planar underwater vehicle manipulator system [consisting of an underwater vehicle and a two link rotary (2R) serial planar manipulator]. The actuator and sensor dynamics of the system are also incorporated in the dynamical model of an AUVMS. The proposed control law consists of a feedforward term to exaggerate the control activity with immoderation from the known desired acceleration vector and an estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics as a first part and a single-input fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system as a second part. The primary objective of the proposed control scheme is to track the given end-effector task space trajectory despite of external disturbances, system uncertainties, and internal noises associated with the AUVMS. To show the efficacy of the proposed control scheme, comparison is made with conventional fuzzy logic control (CFLC), sliding mode control (SMC), and proportional-integral-derivative (PID) controllers. Simulation results confirmed that with the proposed control scheme, the AUVMS can successfully track the given desired spatial trajectory and gives better and robust control performance.},
author = {Londhe, Pandurang S. and Santhakumar, M. and Patre, Balasaheb M. and Waghmare, Laxman M.},
doi = {10.1109/JOE.2016.2548820},
file = {:C\:/Users/Anderson Queiroz/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Londhe et al. - 2017 - Task Space Control of an Autonomous Underwater Vehicle Manipulator System by Robust Single-Input Fuzzy Logic Cont.pdf:pdf},
issn = {03649059},
journal = {IEEE Journal of Oceanic Engineering},
keywords = {Autonomous underwater vehicle manipulator system (,Lyapunov stability,bili,proportional-integral-derivative (PID) control,robust control,single-input fuzzy logic control,task space control},
mendeley-tags = {bili},
number = {1},
pages = {13--28},
publisher = {IEEE},
title = {{Task Space Control of an Autonomous Underwater Vehicle Manipulator System by Robust Single-Input Fuzzy Logic Control Scheme}},
volume = {42},
year = {2017}
}
@article{mohan2012indirect,
title={Indirect adaptive control of an autonomous underwater vehicle-manipulator system for underwater manipulation tasks},
author={Mohan, Santhakumar and Kim, Jinwhan},
journal={Ocean Engineering},
volume={54},
pages={233--243},
year={2012},
publisher={Elsevier}
}
@article{marani2009underwater,
title={Underwater autonomous manipulation for intervention missions AUVs},
author={Marani, Giacomo and Choi, Song K and Yuh, Junku},
journal={Ocean Engineering},
volume={36},
number={1},
pages={15--23},
year={2009},
publisher={Elsevier}
}
@inproceedings{santhakumar2011modelling,
title={Modelling, simulation and model reference adaptive control of autonomous underwater vehicle-manipulator systems},
author={Santhakumar, Mohan and Kim, Jinwhan},
booktitle={2011 11th International Conference on Control, Automation and Systems},
pages={643--648},
year={2011},
organization={IEEE}
}
@article{shim2010workspace,
title={Workspace control system of underwater tele-operated manipulators on an ROV},
author={Shim, Hyungwon and Jun, Bong-Huan and Lee, Pan-Mook and Baek, Hyuk and Lee, Jihong},
journal={Ocean Engineering},
volume={37},
number={11-12},
pages={1036--1047},
year={2010},
publisher={Elsevier}
}
@article{paull2013auv,
title={AUV navigation and localization: A review},
author={Paull, Liam and Saeedi, Sajad and Seto, Mae and Li, Howard},
journal={IEEE Journal of oceanic engineering},
volume={39},
number={1},
pages={131--149},
year={2013},
publisher={IEEE}
}
@incollection{casalino2017robotized,
title={Robotized underwater interventions},
author={Casalino, Giuseppe and Simetti, Enrico and Wanderlingh, Francesco},
booktitle={Sensing and Control for Autonomous Vehicles},
pages={365--386},
year={2017},
publisher={Springer}
}
@article{craig1986introduction,
title={Introduction to Robotics Machanics and Control, Addison Wesley},
author={Craig, John J},
year={1986}
}
@article{fossen1994guidance,
title={Guidance and Control of Ocean Vehicles-Thor I},
author={Fossen, TI},
journal={Fossen. pdf, 1st ed. Trondheim: British Library},
pages={1--494},
year={1994}
}
@article{LondheMohan2017,
abstract = {This paper presents, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme for a task-space trajectory tracking control of an autonomous underwater vehicle-manipulator system (AUVMS) employed for deep-sea intervention tasks. The effectiveness of the proposed control scheme is numerically demonstrated on a planar underwater vehicle manipulator system (consisting of an underwater vehicle and two link rotary (2R) serial planar manipulator). The actuator and sensor dynamics of the system are also incorporated in the dynamical model of an AUVMS. The proposed control law consists of two main parts: first part uses a feed forward term to reinforce the control activity with extravagance from known desired acceleration vector and carries an estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. The primary objective of the proposed control scheme is to track the given end-effector task-space trajectory despite of external disturbances, system uncertainties and internal noises associated with the AUVMS system. To show the effectiveness of the proposed control scheme, comparison is made with linear and nonlinear PID controllers. Simulation results confirmed that with the proposed control scheme, the AUVMS can successfully track the given desired spatial trajectory and gives better and robust control performance.},
annote = {Este artigo fala sobre a din{\^{a}}mica do ve{\'{i}}culo utilizando o m{\'{e}}todo combinado de PID com Fuzzy.},
author = {Londhe, P. S. and Mohan, S. and Patre, B. M. and Waghmare, L. M.},
doi = {10.1016/j.oceaneng.2017.04.030},
file = {:C\:/Users/Anderson Queiroz/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Londhe et al. - 2017 - Robust task-space control of an autonomous underwater vehicle-manipulator system by PID-like fuzzy control scheme.pdf:pdf},
issn = {00298018},
journal = {Ocean Engineering},
keywords = {Autonomous underwater vehicle- manipulator system,Disturbance estimator,Fuzzy logic control,Lyapunov stability,Nonlinear PID control,PID control,Task-space control,bili},
mendeley-tags = {bili},
number = {May 2016},
pages = {1--13},
publisher = {Elsevier Ltd},
title = {{Robust task-space control of an autonomous underwater vehicle-manipulator system by PID-like fuzzy control scheme with disturbance estimator}},
url = {http://dx.doi.org/10.1016/j.oceaneng.2017.04.030},
volume = {139},
year = {2017}
}
@article{LondhePetra2017,
abstract = {is paper addresses a task-space trajectory control of an underwater vehicle-manipulator system (UVMS) employed for interactive underwater tasks. .e robust task-space tracking control is achieved by designing a non-singular fast terminal sliding mode controller (NFTSMC) with disturbance estimator and demonstrated on a planar underwater vehicle with serial two link manipulator arm a.ached to it. .e proposed NFTSMC integrates a non-singular fast terminal sliding mode controller (NFTSMC) with a non-linear disturbance observer. This combination not only assures €nite and faster convergence of the systems states to the equilibrium from anywhere in the phase-plane but also overcomes the problem of singularity associated with conventional terminal sliding mode controller (TSMC). In addition to this, because of the disturbance observer augmented in the proposed control law, the overall stability of the closed-loop system is enhanced to a great extent. .e feasibility of the proposed NFTSMC is con€rmed by performing extensive numerical simulation on the UVMS for tracking a given pre-de€ned task space trajectory under the in.uence of parameter uncertainties, ocean current and measurement sensor noises.},
annote = {Controle da din{\^{a}}mica do UVMS utilizando como base m{\'{e}}todo SMC},
author = {Londhe, P. S. and Patre, B. M. and Waghmare, L. M. and Mohan, S.},
doi = {10.1145/3132446.3134870},
file = {:C\:/Users/Anderson Queiroz/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Londhe et al. - 2017 - Robust non-singular fast terminal sliding mode task-space position tracking control of an underwater vehicle-mani.pdf:pdf},
isbn = {9781450352949},
issn = {0269-2821},
journal = {ACM International Conference Proceeding Series},
keywords = {Disturbance observer,Task-space control,Terminal sliding mode control,Underwater vehicle-manipulator system,bili},
mendeley-tags = {bili},
title = {{Robust non-singular fast terminal sliding mode task-space position tracking control of an underwater vehicle-manipulator system}},
volume = {Part F1320},
year = {2017}
}
@article{Wang2020,
abstract = {This article presents the design of a biomimetic underwater vehicle-manipulator system (BUVMS) with bioinspired long-fin propulsion and its control methods. The kinematic analysis of bioinspired long-fin propulsion is conducted, and the maximum thrust of this propulsion derived from our thrust measurement platform can be up to 25 N. Bioinspired long-fin propulsion is introduced to construct the BUVMS for inspection and manipulation tasks, and the system architecture of the BUVMS is described. Moreover, real-Time dynamic dubins-helix path planning and tracking of the biomimetic vehicle are proposed to realize the arrival of the desired pose. The tracking error is less than 0.23 body length. Finally, coordinated control between the biomimetic vehicle and the manipulator is developed to achieve autonomous manipulation. The reaction of the manipulator served as feedforward compensation is added into the closed-loop control of the biomimetic vehicle. The experimental results are provided to illustrate the validity of the proposed methods.},
author = {Wang, Yu and Wang, Rui and Wang, Shuo and Tan, Min and Yu, Junzhi},
doi = {10.1109/TIE.2019.2944082},
file = {:C\:/Users/Anderson Queiroz/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Wang et al. - 2020 - Underwater Bioinspired Propulsion From Inspection to Manipulation.pdf:pdf},
issn = {15579948},
journal = {IEEE Transactions on Industrial Electronics},
keywords = {Bioinspired propulsion,bili,coordinated control,underwater manipulation,underwater vehicle-manipulator system},
mendeley-tags = {bili},
number = {9},
pages = {7629--7638},
title = {{Underwater Bioinspired Propulsion: From Inspection to Manipulation}},
volume = {67},
year = {2020}
}
@article{wang2014real,
title={Real-time dynamic Dubins-Helix method for 3-D trajectory smoothing},
author={Wang, Yu and Wang, Shuo and Tan, Min and Zhou, Chao and Wei, Qingping},
journal={IEEE Transactions on Control Systems Technology},
volume={23},
number={2},
pages={730--736},
year={2014},
publisher={IEEE}
}
@book{koubaa2017robot,
title={Robot Operating System (ROS).},
author={Koub{\^a}a, Anis and others},
volume={1},
year={2017},
publisher={Springer}
}
@article{wang2016multivariable,
title={Multivariable output feedback adaptive terminal sliding mode control for underwater vehicles},
author={Wang, Yaoyao and Gu, Linyi and Gao, Ming and Zhu, Kangwu},
journal={Asian Journal of Control},
volume={18},
number={1},
pages={247--265},
year={2016},
publisher={Wiley Online Library}
}
@article{Wang2017,
abstract = {A new nonlinear robust control scheme is proposed and investigated for the trajectory tracking control problem of an underwater vehicle-manipulator system (UVMS) using the discrete time delay estimation (DTDE) technique. The proposed control scheme mainly has two parts: The DTDE part and the desired dynamics part. The former one is applied to properly estimate and compensate the complex unknown lumped dynamics of the system, using the intentionally time-delayed system's information. The latter one is used to obtain the desired dynamic characteristic of the closed-loop control system. Thanks to the DTDE technique, the proposed control scheme no longer requires the detailed system dynamic information or the acceleration signals, bringing in good feasibility for actual applications and satisfactory control performance. The stability of the closed-loop control system is analyzed and proved using the bounded input bounded out stability theory. Finally, nine degree of freedoms (DOFs) simulation and seven DOFs pool experiment studies were conducted to demonstrate the effectiveness of the proposed control scheme with an UVMS developed in our laboratory. Corresponding results show that our proposed control scheme can ensure satisfactory control performance with relative small control gains and obtain a precision of 0.064 m for the end effector in the task space.},
annote = {Este artigo tamb{\'{e}}m trata da din{\^{a}}mica do UVMS utilizando a t{\'{e}}cnica de controle DTDE. Ele faz os teste observando a estabilidade do ve{\'{i}}culo {\`{a}} medida que o manipulador se desloca.},
author = {Wang, Yaoyao and Jiang, Surong and Chen, Bai and Wu, Hongtao},
doi = {10.1109/ACCESS.2017.2701350},
file = {:C\:/Users/Anderson Queiroz/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Wang et al. - 2017 - Trajectory Tracking Control of Underwater Vehicle-Manipulator System Using Discrete Time Delay Estimation.pdf:pdf},
issn = {21693536},
journal = {IEEE Access},
keywords = {DTDE,Trajectory tracking control,UVMS,bili,discrete time delay estimation,underwater vehicle-manipulator system},
mendeley-tags = {bili},
pages = {7435--7443},
publisher = {IEEE},
title = {{Trajectory Tracking Control of Underwater Vehicle-Manipulator System Using Discrete Time Delay Estimation}},
volume = {5},
year = {2017}
}
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journal={Journal of Dynamic Systems, Measurement, and Control},
volume={136},
number={5},
year={2014},
publisher={American Society of Mechanical Engineers Digital Collection}
}
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@inproceedings{han2008coordinated,
title={Coordinated motion control of underwater vehicle-manipulator system with minimizing restoring moments},
author={Han, Jonghui and Chung, Wan Kyun},
booktitle={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages={3158--3163},
year={2008},
organization={IEEE}
}
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%-------------------------------------------%
%%%% --- lista dos artigos relevante ---%%%%%
%-------------------------------------------%
@inproceedings{guangyi2018research,
title={Research on underwater safety inspection and operational robot motion control},
author={Guangyi, Zhang and Qingjun, Zeng and Zhiyu, Zhu and Xiaoqiang, Dai and Chunlei, Zhu},
booktitle={2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)},
pages={322--327},
year={2018},
organization={IEEE}
}
@article{bruno2018augmented,
title={Augmented reality visualization of scene depth for aiding ROV pilots in underwater manipulation},
author={Bruno, Fabio and Lagudi, Antonio and Barbieri, Loris and Rizzo, Domenico and Muzzupappa, Maurizio and De Napoli, Luigi},
journal={Ocean Engineering},
volume={168},
pages={140--154},
year={2018},
publisher={Elsevier}
}
@inproceedings{leborne2018dynamic,
title={Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm},
author={Leborne, Fran{\c{c}}ois and Creuze, Vincent and Chemori, Ahmed and Brignone, Lorenzo},
booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages={1--9},
year={2018},
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%........>>>>>>>>>>>>.........
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