Benoît Ropars
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View article: Energy-Efficient Configuration and Control Allocation for a Dynamically Reconfigurable Underwater Robot
Energy-Efficient Configuration and Control Allocation for a Dynamically Reconfigurable Underwater Robot Open
A dynamically reconfigurable underwater robot, which can vary its configuration during a mission, would be useful for confined environment exploration and docking because of its versatility. A mission can be performed by choosing among dif…
View article: A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment
A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment Open
This paper presents the design and experiment of an autonomous underwater robot which can change the geometric configuration of its actuators, according to mission requirements or environmental constraints. The robot consists of two subsys…
View article: Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives Open
In general, for the configuration designs of underwater robots, the positions and directions of actuators (i.e., thrusters) are given and installed in conventional ways (known points, vertically, horizontally). This yields limitations for …
View article: Short-Range Submarine Radio System for Localization of Remotely Operated Underwater Vehicles and Cave Divers in Fresh Water
Short-Range Submarine Radio System for Localization of Remotely Operated Underwater Vehicles and Cave Divers in Fresh Water Open
This article presents the study of a new RF device operating in the high-frequency band for underwater localization of scuba divers and the development of exploration robots in karstic environments.The system, composed of a conductive brea…
View article: Configuration Matrix Design of Over-Actuated Marine Systems
Configuration Matrix Design of Over-Actuated Marine Systems Open
This paper presents the properties and design procedure of the configuration matrix of over-actuated marine systems. Performance indices introduced in manipulator robots are extended in over-actuated marine vehicles. Moreover, two novel in…
View article: Robotic mapping of a karst aquifer
Robotic mapping of a karst aquifer Open
International audience
View article: Atoms based control of mobile robots with Hardware-In-the-Loop validation
Atoms based control of mobile robots with Hardware-In-the-Loop validation Open
International audience
View article: Thruster's dead-zones compensation for the actuation system of an underwater vehicle
Thruster's dead-zones compensation for the actuation system of an underwater vehicle Open
This paper addresses a control allocation method in order to compensate for the effect of thrusters' dead-zones, on the actuation system of an underwater vehicle. This solution concurrently considers dead-zone effect and actuation limitati…