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This paper addresses the problem of mission control of Unmanned Underwater Vehicles (UUVs) through the Internet network. Its main focus is on the integration of a Petri Net based mission control system developed by the Instituto Superior Técnico using the CORAL environment, with the control system of ROMEO, a prototype ROV developed by the Robotics(More)
This paper addresses the problem of low cost actuator fault detection, diagnosis and accommodation for Remotely Operated Vehicles. The research is based on the analysis of the telemetry of Romeo, the over-actuated ROV developed by C.N.R.-I.A.N., operating both in nominal and different failure conditions. Results demonstrate how the monitoring of the(More)
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