001463716 000__ 06070cam\a22007337i\4500
001463716 001__ 1463716
001463716 003__ OCoLC
001463716 005__ 20230601003333.0
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001463716 008__ 230506s2023\\\\si\\\\\\ob\\\\000\0\eng\d
001463716 019__ $$a1378008313
001463716 020__ $$a9789819906550$$qelectronic book
001463716 020__ $$a9819906555$$qelectronic book
001463716 020__ $$z9819906547
001463716 020__ $$z9789819906543
001463716 0247_ $$a10.1007/978-981-99-0655-0$$2doi
001463716 035__ $$aSP(OCoLC)1378392220
001463716 040__ $$aEBLCP$$beng$$erda$$cEBLCP$$dYDX$$dGW5XE$$dEBLCP$$dYDX
001463716 049__ $$aISEA
001463716 050_4 $$aTC1662$$b.U53 2023
001463716 08204 $$a629.892$$223/eng/20230509
001463716 1001_ $$aWang, Shuo.
001463716 24510 $$aUnderwater biomimetic vehicle-manipulator system :$$bcontrol and planning /$$cShuo Wang, Yu Wang, Min Tan, Rui Wang, Xiang Dong, Qingping Wei, Liuji Shang.
001463716 264_1 $$aSingapore :$$bSpringer,$$c2023.
001463716 300__ $$a1 online resource (181 p.).
001463716 336__ $$atext$$btxt$$2rdacontent
001463716 337__ $$acomputer$$bc$$2rdamedia
001463716 338__ $$aonline resource$$bcr$$2rdacarrier
001463716 4901_ $$aUnmanned system technologies
001463716 504__ $$aReferences -- 4 Motion Control of the Underwater Biomimetic Robot -- 4.1 Three-Dimensional Motion Control -- 4.2 Depth Control and Yaw Angle Control -- 4.2.1 System Modeling -- 4.2.2 Depth Control -- 4.2.3 Yaw Angle Control -- References -- 5 Path Planning of Underwater Biomimetic Robot -- 5.1 Real-Time Dynamic Dubins-Helix Trajectory Planning -- 5.1.1 Problem Statement -- 5.1.2 RDDH Trajectory Smoothing -- 5.1.3 Simulation and Analysis -- 5.2 Real-Time Trajectory Planning for Autonomous Approaching a Moving Target -- 5.2.1 Problem Statement
001463716 504__ $$aIncludes bibliographical references.
001463716 5050_ $$aIntro -- Preface -- Brief Introduction -- Contents -- 1 Introduction -- 1.1 Underwater Vehicle-Manipulator System -- 1.2 Underwater Biomimetic Vehicle Propelled by Undulating Fins -- 1.2.1 Theoretical Analysis of Undulatory Fin -- 1.2.2 Experimental Observation and Analysis of Undulating Fin -- 1.2.3 Numerical Analysis of Undulating Fin -- 1.3 Autonomous Operation of the Underwater Vehicle-Manipulator System -- 1.4 Trajectory Planning of the Underwater Vehicle-Manipulator System -- References -- 2 Design of the Underwater Biomimetic Vehicle-Manipulator System
001463716 5058_ $$a2.1 Mechanical Design of the UBVMS -- 2.1.1 Mechanical Design of the Bionic Propulsor -- 2.1.2 Mechanism Design of the Underwater Manipulator -- 2.2 Control System Design of the UBVMS -- 2.2.1 Underlying Driving System of Undulatory Fins -- 2.2.2 Underlying Driving Remote Update System -- References -- 3 Kinematics and Dynamics Modeling of the Biomimetic Undulatory Fin -- 3.1 Kinematics Modeling of the Undulatory Fin -- 3.1.1 Kinematics Modeling -- 3.1.2 Effects on the Movement of Undulating Fin -- 3.2 Dynamic Modeling of Undulatory Fins -- 3.2.1 Basal Principle -- 3.2.2 Dynamic Modeling
001463716 5058_ $$a5.2.2 Real-Time Trajectory Planning for Approaching a Moving Target -- 5.2.3 Model Description for Simultaneous Arrival of the Underwater Biomimetic Robot and the Target -- 5.2.4 Real-Time Trajectory Planning Algorithm for Approaching a Moving Target -- 5.2.5 Simulation and Analysis -- References -- 6 Path Tracking Control of the Underwater Biomimetic Robot -- 6.1 Waypoint Tracking Control -- 6.1.1 Problem Statement -- 6.1.2 The Controller Design of Waypoint Tracking -- 6.1.3 Experiments and Analysis -- 6.2 Path Tracking Control -- 6.2.1 Reference Coordinate System -- 6.2.2 Problem Statement
001463716 5058_ $$a6.2.3 The Controller Design -- 6.2.4 Experiment and Analysis -- References -- 7 Autonomous Grasping Control of the Underwater Biomimetic Vehicle-Manipulator System -- 7.1 Hand-Eye Coordination Control of the Underwater Manipulator -- 7.1.1 Autonomous Grasping Control of Manipulator -- 7.1.2 Experiment and Results -- 7.2 Coordination Planning and Control of the Underwater Biomimetic Vehicle-Manipulator System -- 7.2.1 Coordination Planning and Control Based on Task-Priority Algorithm -- 7.2.2 Experiment and Results -- References
001463716 506__ $$aAccess limited to authorized users.
001463716 520__ $$aThis book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.
001463716 588__ $$aOnline resource; title from PDF title page (SpringerLink, viewed May 9, 2023).
001463716 650_0 $$aRemote submersibles.
001463716 650_0 $$aAutonomous underwater vehicles.
001463716 655_0 $$aElectronic books.
001463716 7001_ $$aWang, Yu.
001463716 7001_ $$aTan, Min,$$d1962-
001463716 7001_ $$aWang, Rui.
001463716 7001_ $$aDong, Xiang.
001463716 7001_ $$aWei, Qingping.
001463716 7001_ $$aShang, Liuji.
001463716 77608 $$iPrint version:$$aWang, Shuo$$tUnderwater Biomimetic Vehicle-Manipulator System$$dSingapore : Springer,c2023$$z9789819906543
001463716 830_0 $$aUnmanned system technologies.
001463716 852__ $$bebk
001463716 85640 $$3Springer Nature$$uhttps://univsouthin.idm.oclc.org/login?url=https://link.springer.com/10.1007/978-981-99-0655-0$$zOnline Access$$91397441.1
001463716 909CO $$ooai:library.usi.edu:1463716$$pGLOBAL_SET
001463716 980__ $$aBIB
001463716 980__ $$aEBOOK
001463716 982__ $$aEbook
001463716 983__ $$aOnline
001463716 994__ $$a92$$bISE