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Underwater Manipulator information fusion and operations planning studies

Author: XueLiMei
Tutor: XuZuoLongï¼›XuGuoHua
School: Huazhong University of Science and Technology
Course: Marine Engineering
Keywords: Underwater Manipulator Information Fusion Target recognition Operational planning
CLC: TP241
Type: Master's thesis
Year: 2011
Downloads: 28
Quote: 0
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Man is now facing three major problems : population, resources and environment , along with the rapid development of national economies and the world's population continues to increase , the land on the growing problem of resource depletion . To survive and prosper , humans began to cover 71% of the earth's surface into the ocean . Ocean is rich in mineral resources, marine biological resources and energy. Using underwater robots and robotic operations instead of humans to observe ocean seabed geological survey and mining resources , has become an important means of ocean development . Assembly operations underwater intelligent robot manipulator in a variety of non-military applications such as the marine sciences , oil and gas exploration , underwater inspection, drilling and mining support , pipeline maintenance, underwater cable laying and military applications play an important role . Underwater underwater robot manipulator is an important part of a country's level of development of marine high-tech jobs in large part by the ability to have an underwater robot technology decisions. In this paper, based on national defense research project \Thesis is divided into six chapters: The first chapter introduces the research background and significance, research status and leads to the main contents of this paper ; second chapter introduces the underwater robot , summarizing the Underwater Manipulator control system hardware architecture and software architecture ; Chapter underwater robot for multi-sensor information fusion were studied, including close vision sensor information processing , visual sensor information processing, and the coordinates of the target object conversion issues analyzed in detail . Finally, the design of a vision-based , close to the feel of the information fusion of specific programs ; Chapter underwater manipulator operational planning studies , the design of the robot control modes , and a detailed analysis of various remote manipulator operational planning under way program ; Chapter overall system of underwater robot to do a series of related experiments ; sixth chapter is a summary of the papers and outlook .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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