The use of robots in the maritime industry is becoming more widespread in its different branches. Underwater autonomous vehicles (UUVs) have become an essential tool for various underwater activities. Compared to other autonomous systems, navigation and localization for UUVs are particularly difficult due to the unavailability of the Global Positioning System (GPS), where signals are attenuated under water and the complexity and instability of the environment are big. Alternative methods such as acoustic positioning systems, inertial navigation systems (INS) and geophysical navigation approach are used for navigation. In this paper is presented three methods for underwater navigation and the algorithm used to follow a trajectory. The flowmeter is used in this application to identify the underwater route and the results are compared with the inertial sensors (IMU) test especially the magnetometer results. The two prediction are used using PID and Kalman filter to identify the trajectory.
KEYWORDS: Video, IP cameras, Data communications, Remotely operated vehicles, Cameras, Global Positioning System, Telecommunications, Control systems, Sensors, Water
The different assessments provide information on the best methods to approach an artifact. The presence and extent of potential threats to archaeology must also be determined. In this paper we present an underwater robot, built in the laboratory, able to identify the artifact and to get it to the surface. It is an underwater remotely operated vehicle (ROV) which can be controlled remotely from the shore, a boat or a control station and communication is possible through an Ethernet cable with a maximum length of 100 m. The robot is equipped with an IP camera which sends real time images that can be accessed anywhere from within the network. The camera also has a microSD card to store the video. The methods developed for data communication between the robot and the user is present. A communication protocol between the client and server is developed to control the ROV.
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