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Altitude control feasibility for a seaweed harvester

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2 Author(s)
Gallieri, Marco ; Dipt. di Ing., Inf., Gestionale e dell'' Autom., Univ.'' Politec. delle Marche, Ancona, Italy ; Ringwood, J.

In this paper, the feasibility of the altitude control of a seaweed harvester is examined. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The goal of the control action is to maintain the harvester at a constant altitude with respect to the seabed profile. A control strategy is proposed, including a vessel motion feed-forward action, using a motion reference unit (MRU), and an altitude feedback loop, using a sonar device for altitude measurement.

Published in:

Industrial Technology (ICIT), 2010 IEEE International Conference on

Date of Conference:

14-17 March 2010