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Details of Grant 

EPSRC Reference: GR/N39203/01
Title: IMPROVES: IMPROVING THE PERFORMANCE OF REMOTELY OPERATED VEHICLES
Principal Investigator: Sutton, Professor R
Other Investigators:
Allen, Professor R Roberts, Professor GN
Researcher Co-Investigators:
Project Partners:
Saab Seaye Limited (UK)
Department: Mechanical & Marine Engineering
Organisation: University of Plymouth
Scheme: Standard Research (Pre-FEC)
Starts: 02 April 2001 Ends: 01 June 2004 Value (£): 143,099
EPSRC Research Topic Classifications:
Control Engineering Robotics & Autonomy
EPSRC Industrial Sector Classifications:
Information Technologies Transport Systems and Vehicles
Related Grants:
GR/N39210/01 GR/N39456/01
Panel History:  
Summary on Grant Application Form
Remotely operated vehicles are the predominant underwater vessels employed offshore, but changes in vehicle configuration and mission requirements, coupled with controllers which tend to be based upon fixed parameters, results in suboptimal operating performance. Tuning and retuning of controllers is a very significant, time consuming and costly problem for the industry. Suboptimal and changing dynamic performance, coupled with the limited capability for fault tolerance, poses considerable strain on the pilot who, when flying the vehicle over changing lengths of tether has additionally to contend with variable time delays in communication.This proposal addresses the design, implementation and evaluation of new, robust, predictive and autotuning schemes for vehicle control coupled with on-line fault detection and handling subsystems which will increase the reliability and utilisation of ROVs. The generic elements should be transportable to other types of remotely piloted vehicles and human-machine systems.
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Organisation Website: http://www.plym.ac.uk