• Underwater Vehicle-Manipulator System
    • Description
      • For Autonomous Underwater Manipulation : sampling/mining/welding/etc.
    • Features
      • Small UVMS for manipulation in shallow water 
      • Vehicle : 0.7x0.7x0.7m, 42.4kg in air
      • 6 thrusters for omni-directional motion
      • 4+1 DOF manipulator
      • Max. operating depth = 100m
    • Research area
      • Dynamic Analysis
        • UVMS Modeling
          • Princile of dynamic balance : a powerful modeling method for combined systems

        • Thruster modeling
          • Axial flow direction / velocity

      • Kinematic Redundancy
        • Reduce control Effort through Optimizing Restoring Moment

      • Robust Tracking Control
        • Nonlinear H-inf control w/ disturbance observer

      • Vision-based sensor fusion for manipulation