By Topic

Design and Validation of a Robotic Control Law for Observation of Deep-Ocean Jellyfish

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
J. H. Rife ; Stanford Univ., CA ; S. M. Rock

Limits on the technology available to marine scientists to study jellyfish in situ motivate the development of an automated robotic tracking system for deployment in the deep ocean. This paper synthesizes a control strategy for robotic jellyfish tracking with a remotely operated vehicle (ROV). The control strategy employs three feedback loops tailored to the jelly-tracking task. A primary loop provides moderate proportional-derivative feedback to track animal swimming motion without producing excessive hydrodynamic disturbances, which might impact the behavior of the animal under study. A second boundary-control loop provides aggressive thrust, in a direction away from the target and only when needed to prevent loss of the target outside the boundaries of the vision sensor. A third disturbance-accommodation loop counters low-frequency bias forces without fighting commands issued by the human pilot. The complete system was implemented and tested in the Monterey Bay using the Monterey Bay Aquarium Research Institute's ROV Ventana. The control system autonomously tracked six animals for durations longer than 15 min, including a Plychogena medusa which was tracked for 89 min

Published in:

IEEE Transactions on Robotics  (Volume:22 ,  Issue: 2 )