I
nte
rna
t
io
na
l
J
o
urna
l
of
Ro
bo
t
ics
a
nd
Aut
o
m
a
t
io
n
(
I
J
R
A)
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020,
pp.
1
9
6
~2
10
I
SS
N:
2089
-
4856,
DOI
:
1
0
.
1
1
5
9
1
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.
v9
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10
196
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:
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ttp
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a
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m
Prototy
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nt
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there
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underw
a
ter
ro
bo
t
for
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a
ter
v
ess
el
a
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k
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eph
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eo
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iy
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M
o
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es
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1
De
p
a
rtme
n
t
of
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
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ic
E
n
g
in
e
e
rin
g
,
Un
iv
e
rsity
of
P
o
rt
Ha
rc
o
u
rt,
Nig
e
ria
2
S
a
ro
W
iw
a
P
o
ly
tec
h
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ic
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ri,
Ni
g
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ria
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Mar
4
,
20
20
R
ev
i
s
ed
Mar
31
,
20
20
A
cc
ep
ted
A
p
r
29
,
20
20
T
e
th
e
re
d
u
n
d
e
rw
a
ter
ro
b
o
t
(T
U
R)
f
o
r
u
n
d
e
rw
a
ter
v
e
ss
e
l
a
n
c
h
o
r
re
lea
se
is
p
re
se
n
ted
.
In
o
f
f
-
sh
o
re
o
il
a
n
d
g
a
s
e
n
v
iro
m
n
m
e
n
t
,
th
e
re
h
a
s
b
e
e
n
se
ries
of
re
p
o
rted
c
a
se
s
on
st
u
c
k
v
e
ss
e
l
a
n
c
h
o
rs
a
f
ter
m
o
o
rin
g
o
p
e
ra
ti
o
n
s
a
n
d
d
iv
e
rs
a
re
se
n
t
to
re
lea
se
th
e
se
a
n
c
h
o
rs
f
o
r
th
e
v
e
ss
e
ls
to
be
in
m
o
ti
o
n
.
T
h
e
u
se
of
d
iv
e
rs
to
p
e
rf
o
r
m
su
c
h
f
u
n
c
ti
o
n
is
v
e
r
y
risk
y
b
e
c
a
u
se
of
h
u
m
a
n
li
m
it
a
ti
o
n
a
n
d
so
m
e
d
iv
e
rs
h
a
v
e
b
e
e
n
r
e
p
o
rt
e
d
d
e
a
d
on
th
e
p
ro
c
e
ss
due
to
h
ig
h
p
re
ss
u
re
u
n
d
e
rw
a
ter
or
b
e
in
g
a
tt
a
c
k
e
d
by
u
n
d
e
rw
a
ter
w
id
e
a
n
i
m
a
l
s
.
T
h
is
h
a
s
c
a
u
se
d
v
e
r
y
se
rio
u
s
p
a
n
ic
to
t
h
e
v
e
ss
e
l
o
w
n
e
rs
a
n
d
h
e
n
c
e
,
th
is
w
o
rk
is
a
i
m
e
d
to
d
e
v
e
lo
p
T
UR
th
a
t
w
o
u
ld
be
u
se
d
by
th
e
v
e
ss
e
l
o
p
e
ra
to
rs
in
ste
a
d
of
d
iv
e
r
s
to
re
lea
se
th
e
stu
c
k
a
n
c
h
o
r
w
it
h
o
u
t
l
o
ss
.
T
h
e
u
n
d
e
rw
a
ter
ro
b
o
t
sy
ste
m
c
o
m
p
rise
s
of
th
re
e
b
a
sic
se
c
ti
o
n
s
n
a
m
e
l
y
g
ra
p
h
ica
l
u
se
r
c
o
n
tr
o
l
i
n
terf
a
c
e
(G
UCI)
th
a
t
w
o
u
ld
be
in
sta
ll
e
d
in
th
e
o
p
e
ra
to
r’s
lap
t
o
p
,
t
h
e
W
iF
i
L
A
N
ro
u
ter
f
o
r
n
e
tw
o
rk
c
o
n
n
e
c
ti
o
n
,
a
n
d
T
UR
sy
ste
m
h
a
rd
wa
re
a
n
d
so
f
twa
r
e
.
Eac
h
of
th
e
se
se
c
ti
o
n
s
w
a
s
strictl
y
d
e
sig
n
e
d
.
V
a
rio
u
s
h
ig
h
-
lev
e
l
p
r
o
g
ra
m
m
in
g
lan
g
u
a
g
e
s
w
e
re
e
m
p
lo
y
e
d
to
d
e
sig
n
th
e
G
UCI
a
n
d
c
o
d
e
t
h
e
in
terf
a
c
e
b
u
tt
o
n
s,
ro
b
o
t
c
o
n
tro
ll
e
r
p
ro
g
ra
m
c
o
d
e
s
e
tc.
T
h
e
i
m
p
le
m
e
n
tatio
n
c
a
rried
o
u
t
a
n
d
th
e
p
r
o
to
ty
p
e
sy
ste
m
tes
ted
in
th
e
Un
iv
e
rsit
y
of
P
o
rt
Ha
rc
o
u
rt
’s
sw
i
m
m
in
g
p
o
o
l
of
6m
d
e
p
th
f
o
r
v
a
li
d
a
ti
o
n
.
T
h
e
ro
b
o
t
p
e
rf
o
rm
e
d
e
x
tre
m
e
l
y
g
o
o
d
in
sw
i
m
m
in
g
a
n
d
re
lea
se
of
c
o
n
stru
c
ted
a
n
c
h
o
r
u
n
d
e
rw
a
ter.
K
ey
w
o
r
d
s
:
An
c
h
o
r
Div
er
s
Of
f
-
s
h
o
r
e
en
v
ir
o
n
m
e
n
t
R
OV
Sea
v
es
s
el
T
h
is
is
an
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC
BY
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
E
ze
o
f
o
r
C
h
u
k
w
u
n
az
o
J
o
s
ep
h
,
Dep
ar
t
m
en
t
of
E
lectr
ical
an
d
E
lectr
o
n
ic
E
n
g
in
ee
r
i
n
g
,
Un
i
v
er
s
it
y
of
P
o
r
t
Har
co
u
r
t
C
h
o
b
a,
P
o
r
t
Har
co
u
r
t,
R
iv
er
s
State,
Nig
er
ia
.
E
m
ail:
c
h
u
k
w
u
n
az
o
.
ez
eo
f
o
r
@
u
n
ip
o
r
t.e
d
u
.
n
g
1.
I
NT
RO
D
UCT
I
O
N
Un
d
er
s
ea
r
o
b
o
tics
h
as
s
h
o
w
n
an
i
n
cr
ea
s
i
n
g
i
n
ter
est
in
th
e
la
s
t
50
y
ea
r
s
f
o
r
o
ce
an
ic
ca
r
to
g
r
ap
h
y
,
s
e
a
ex
p
lo
r
atio
n
an
d
u
n
d
er
w
ater
o
il
ex
tr
ac
tio
n
t
h
at
h
a
s
led
to
th
e
cr
ea
tio
n
of
an
u
n
d
er
w
ater
v
eh
ic
le
to
be
co
n
tr
o
lled
f
r
o
m
d
is
ta
n
ce
[
1
–
4
]
.
R
ec
en
tl
y
,
u
n
d
er
w
ater
r
o
b
o
ts
h
a
v
e
b
ee
n
u
s
ed
f
o
r
v
ar
i
o
u
s
tas
k
s
s
u
ch
as
u
n
d
er
w
ater
d
ata
co
llectio
n
,
u
n
d
er
w
ater
s
u
r
v
e
illa
n
ce
,
u
n
d
er
w
ater
s
tr
u
ct
u
r
e
in
s
p
ec
tio
n
,
p
ip
e
h
an
d
li
n
g
in
d
r
illi
n
g
o
p
er
atio
n
s
,
p
ip
e
in
s
p
ec
tio
n
,
in
-
p
ip
e
i
n
s
p
ec
tio
n
r
o
b
o
ts
(
lP
I
R
s
)
,
s
h
ip
h
u
ll
in
s
p
ec
tio
n
,
o
ce
an
ex
p
lo
r
atio
n,
m
ai
n
ten
a
n
ce
of
u
n
d
er
w
ater
eq
u
ip
m
e
n
t
etc.
[
5
–
9]
.
R
e
m
o
tel
y
o
p
er
ated
u
n
d
er
w
ater
v
eh
icle
s
s
h
o
r
ten
ed
as
R
O
Vs
ar
e
teth
er
ed
an
d
m
a
n
n
ed
u
n
d
er
w
ater
v
e
h
icle
u
s
ed
to
p
er
f
o
r
m
s
o
m
e
ce
r
tai
n
f
u
n
ct
io
n
s
u
n
d
er
w
ater
.
T
h
e
m
ai
n
b
en
ef
it
s
of
u
s
i
n
g
u
n
d
er
w
ater
r
o
b
o
tic
v
eh
icle
s
co
u
ld
be
r
e
m
o
v
i
n
g
d
i
v
er
s
f
r
o
m
t
h
e
d
an
g
er
s
of
th
e
u
n
d
er
s
ea
s
p
ac
e
an
d
r
ed
u
ctio
n
in
co
s
t
of
ex
p
lo
r
atio
n
of
d
ee
p
s
ea
s
.
In
o
il
an
d
g
as
o
f
f
s
h
o
r
e
a
n
d
m
ar
in
e
en
v
ir
o
n
m
e
n
ts
in
N
ig
er
ia
,
v
ess
e
ls
tr
a
n
s
p
o
r
tin
g
cr
u
d
es
a
r
e
al
w
a
y
s
an
ch
o
r
ed
d
u
r
in
g
cr
u
d
es
o
f
f
lo
a
d
in
g
p
er
io
d
at
th
e
s
ea
p
o
r
t.
T
h
er
e
h
a
s
b
ee
n
s
er
ie
s
of
r
ep
o
r
ted
ca
s
es
of
tr
ap
p
ed
an
ch
o
r
s
u
s
ed
to
te
n
s
io
n
v
ess
e
l
s
d
u
r
i
n
g
lo
ad
in
g
/o
f
f
lo
ad
in
g
or
m
o
o
r
in
g
o
p
er
atio
n
in
t
h
e
s
ea
.
T
h
e
v
es
s
el
a
n
c
h
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
u
to
m
I
SS
N:
2089
-
4856
P
r
o
to
typ
e
d
ev
elo
p
me
n
t
of
teth
ered
u
n
d
erw
a
ter
r
o
b
o
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fo
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u
n
d
erw
a
ter
ve
s
s
el
...
(
E
z
eo
fo
r
C
h
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kwu
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a
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o
Jo
s
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197
m
i
g
h
t
g
et
tr
ap
p
ed
af
ter
o
p
er
ati
o
n
an
d
,
f
o
r
as
lo
n
g
as
th
e
a
n
c
h
o
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is
h
o
o
k
ed
,
th
e
v
ess
e
l
ca
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n
o
t
m
o
v
e.
P
er
s
o
n
n
el
on
d
u
t
y
o
f
ten
f
i
n
d
it
d
if
f
ic
u
lt
to
r
em
o
v
e
t
h
e
tr
ap
p
ed
an
ch
o
r
af
ter
m
o
o
r
in
g
o
p
er
atio
n
or
af
ter
w
aiti
n
g
f
o
r
its
o
f
f
lo
ad
in
g
t
u
r
n
.
T
h
e
s
ea
d
iv
e
r
s
w
o
u
ld
t
y
p
icall
y
be
s
en
t
to
r
elea
s
e
th
e
an
c
h
o
r
,
d
ep
en
d
in
g
on
th
e
d
ep
th
of
th
e
w
a
ter
w
h
ich
s
o
m
eti
m
es
m
a
y
be
v
er
y
d
if
f
ic
u
lt
to
r
elea
s
e.
W
h
en
t
h
e
s
it
u
atio
n
s
ee
m
s
so
d
if
f
ic
u
lt,
t
h
e
v
es
s
el
an
ch
o
r
w
o
u
ld
be
cu
t
-
o
f
f
w
h
ich
is
a
h
u
g
e
lo
s
s
to
t
h
e
v
ess
el
o
w
n
er
s
.
To
p
r
ev
en
t
a
n
y
f
u
r
t
h
er
d
ela
y
of
th
e
tr
ap
p
ed
v
es
s
el
or
lo
s
s
to
its
a
n
ch
o
r
as
o
b
s
er
v
ed
,
a
r
em
o
tel
y
o
p
er
ated
u
n
d
er
w
ater
r
o
b
o
t
p
r
o
to
ty
p
e
t
h
a
t
w
o
u
ld
r
elea
s
e
th
e
v
ess
e
l
an
c
h
o
r
is
d
ev
elo
p
ed
.
T
h
e
f
o
llo
w
i
n
g
r
esear
c
h
ed
w
o
r
k
s
w
er
e
r
ev
ie
w
ed
as
s
tated
:
-
In
2015,
Ved
ac
h
ala
m
et
al
[1
0
]
d
ev
elo
p
ed
a
500
m
d
ep
th
r
at
ed
r
em
o
tel
y
o
p
er
ated
v
e
h
icle
(
P
r
o
v
e
5
0
0
)
f
o
r
ca
r
r
y
i
n
g
o
u
t
s
cie
n
ti
f
ic
r
esear
ch
in
s
h
allo
w
w
ater
s
an
d
in
ch
alle
n
g
i
n
g
p
o
lar
r
eg
io
n
s
.
T
h
e
v
e
h
icle
w
it
h
d
i
m
en
s
io
n
s
of
0
.
9
6
m
×
0
.
6
1
m
×
0
.
6
3
m
a
n
d
w
e
ig
h
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ic
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r
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g
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t
h
e
500
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len
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of
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tr
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y
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o
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o
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tic
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m
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m
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icate
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t
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r
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tic
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m
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T
h
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ev
elo
p
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v
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o
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s
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y
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r
o
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y
n
a
m
ic
s
tab
ilit
y
,
lo
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te
m
p
er
at
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r
e
p
er
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m
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ce
in
th
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in
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h
o
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s
e
test
f
ac
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s
an
d
f
o
r
n
a
v
ig
a
tio
n
at
t
h
e
I
d
u
k
k
i
L
a
k
e
in
Ker
ala,
w
h
er
e
th
e
v
e
h
icle
is
n
a
v
i
g
ated
at
a
d
ep
th
of
106
m
at
2
k
n
o
t
s
s
p
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d
w
it
h
t
h
e
n
a
v
ig
a
tio
n
s
y
s
te
m
's
p
o
s
it
io
n
er
r
o
r
of
les
s
th
a
n
5
%
in
th
e
d
ea
d
r
ec
k
o
n
i
n
g
m
o
d
e.
T
h
e
v
eh
icle
is
b
ei
n
g
eq
u
ip
p
ed
w
it
h
ac
ce
s
s
o
r
ies
f
o
r
ca
r
r
y
i
n
g
o
ut
r
esear
ch
in
p
o
lar
r
eg
io
n
s
.
-
In
[1
1
]
,
s
tu
d
ies
s
h
o
w
ed
t
h
e
d
ev
elo
p
m
en
t
of
an
u
n
d
er
w
at
er
R
OV
w
i
th
f
u
zz
y
lo
g
ic
m
o
tio
n
co
n
tr
o
l
f
o
r
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s
h
allo
w
w
ater
en
v
ir
o
n
m
en
t
i.e
.
up
to
10
m
d
ep
th
.
T
h
e
R
OV
w
a
s
d
ev
elo
p
ed
w
it
h
th
e
ass
o
ciate
d
elec
tr
o
n
ics
f
o
r
m
o
tio
n
a
n
d
p
o
w
er
co
n
tr
o
l.
T
h
e
co
n
tr
o
l
elec
tr
o
n
ics
ar
e
m
o
u
n
ted
i
n
s
id
e
th
e
R
OV
m
ai
n
b
o
d
y
an
d
co
m
m
u
n
icate
d
w
it
h
v
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a
teth
er
ed
ca
b
le
r
u
n
n
in
g
f
r
o
m
t
h
e
s
u
r
f
ac
e
w
h
ic
h
also
ca
r
r
ies
th
e
r
eq
u
ir
ed
p
o
w
er
.
T
h
e
R
OV
also
h
as
a
ca
m
er
a
f
o
r
o
b
tain
i
n
g
v
id
eo
an
d
a
s
et
of
L
E
D
lig
h
t
s
f
o
r
ill
u
m
i
n
a
tio
n
.
T
h
e
m
ai
n
co
n
tr
o
llin
g
u
n
it
of
t
h
e
elec
tr
o
n
ics
is
a
R
a
s
p
b
er
r
y
pi
m
icr
o
co
m
p
u
ter
w
h
ic
h
al
s
o
o
p
er
ates
th
e
v
id
eo
.
T
est
tr
ials
of
th
e
R
O
V
u
n
d
er
w
ater
w
er
e
co
n
d
u
cted
in
a
lab
o
r
ato
r
y
w
ater
ta
n
k
to
a
d
ep
th
of
ab
o
u
t
1
.
5
m.
Ver
y
s
atis
f
ac
to
r
y
o
p
er
atio
n
w
a
s
ac
h
iev
e
d.
So
m
e
d
r
a
w
b
ac
k
s
an
d
p
o
s
s
ib
le
i
m
p
r
o
v
e
m
en
ts
w
er
e
id
en
ti
f
ied
d
u
r
in
g
th
ese
te
s
ts
a
n
d
ad
d
r
ess
ed
in
th
e
s
ec
o
n
d
p
h
ase
w
it
h
th
e
i
n
tr
o
d
u
ctio
n
of
f
u
zz
y
lo
g
ic
f
o
r
m
o
ti
o
n
co
n
tr
o
l.
-
A
cc
o
r
d
in
g
to
[
1
]
,
Ah
m
ad
et
al
d
ev
elo
p
ed
r
e
m
o
tel
y
o
p
er
ated
v
eh
icle
(
D2
0
-
R
OV)
f
o
r
a
n
o
d
e
s
h
ip
h
u
l
l
in
s
p
ec
tio
n
in
2017
.
T
h
is
D2
0
-
R
OV
h
a
s
th
r
ee
th
r
u
s
ter
s
to
co
n
tr
o
l
th
e
m
a
n
e
u
v
er
i
n
g
f
o
r
w
ar
d
,
r
ev
er
s
e,
lef
t,
r
ig
h
t,
r
aise
an
d
s
u
b
m
er
g
ed
.
T
h
e
v
e
h
icle
w
it
h
d
i
m
e
n
s
io
n
s
of
0
.
5
m
×
0
.
4
6
m
×
0
.
2
2
m
a
n
d
w
ei
g
h
i
n
g
15
kg
in
t
h
e
air
is
d
esi
g
n
f
o
r
a
s
p
ee
d
ar
o
u
n
d
3
k
n
o
ts
an
d
it
is
p
o
w
er
ed
by
1
6
VDC
on
-
b
o
ar
d
b
atter
y
.
T
h
e
u
m
b
ilical
tr
an
s
m
its
a
n
d
r
ec
eiv
es
t
h
e
d
ata
th
r
o
u
g
h
t
h
e
20
-
m
eter
le
n
g
th
by
u
n
iv
er
s
al
s
er
ial
b
u
s
(
USB
)
ca
b
le
to
c
o
m
m
u
n
ica
te
w
i
th
t
h
e
o
p
er
at
o
r
at
th
e
co
n
tr
o
l
r
o
o
m
.
A
r
ea
l
-
ti
m
e
s
tr
ea
m
in
g
ca
m
er
a
an
d
co
m
m
an
d
f
r
o
m
a
s
u
r
f
ac
e
r
o
o
m
w
er
e
ab
le
to
do
a
v
is
u
a
l
in
s
p
ec
tio
n
of
t
h
e
v
ess
el
s
.
-
A
f
u
ll
-
f
led
g
ed
r
o
b
o
t
(
HYDR
OB
OT
)
f
o
r
u
n
d
er
w
ater
s
u
r
v
ei
llan
ce
a
n
d
s
u
r
v
e
y
w
a
s
d
ev
e
lo
p
ed
in
2018
[
1
2
]
.
Un
d
er
w
a
ter
s
u
r
v
eilla
n
ce
is
a
n
e
w
e
m
er
g
i
n
g
tec
h
n
o
lo
g
y
as
a
p
r
o
m
i
s
in
g
f
ield
of
r
esear
ch
in
r
ec
en
t
y
ea
r
s
.
T
h
e
p
o
ten
tial
ap
p
licatio
n
s
i
n
cl
u
d
e
m
ar
i
n
e
i
n
v
e
s
ti
g
atio
n
,
o
ce
an
ex
p
lo
r
atio
n
etc.
T
h
e
tas
k
s
to
be
ca
r
r
ied
o
u
t
by
t
h
e
r
o
b
o
t
w
o
u
ld
be
d
etec
tin
g
an
d
m
ap
p
in
g
s
u
b
m
er
g
ed
w
r
ec
k
s
,
r
o
ck
s
an
d
o
b
s
tr
u
ctio
n
s
t
h
at
co
u
ld
h
i
n
d
er
th
e
n
a
v
ig
at
io
n
s
y
s
te
m
s
s
u
ch
as
in
co
m
m
er
cial
an
d
r
ec
r
ea
tio
n
al
v
es
s
els.
HYD
R
OB
OT
is
m
ad
e
up
of
p
o
ly
v
i
n
y
l
c
h
lo
r
id
e
p
ip
es
an
d
is
b
alan
ce
d
by
t
h
e
p
r
in
cip
le
of
ce
n
ter
of
g
r
av
it
y
.
T
h
is
s
tr
u
ct
u
r
e
is
ca
p
ab
l
e
of
r
o
tatin
g
in
360
d
eg
r
ee
s
as
w
el
l
as
ch
a
n
g
i
n
g
th
e
d
ep
th
ac
co
r
d
in
g
to
t
h
e
u
s
er
.
T
h
e
u
n
d
er
w
a
te
r
v
id
eo
f
o
o
tag
e
is
tak
e
n
by
ca
m
er
a
f
o
r
th
e
id
e
n
ti
f
icatio
n
of
u
n
d
er
w
ater
li
f
e.
Sen
s
o
r
s
s
u
c
h
as
th
e
ac
ce
ler
o
m
eter
,
h
all
ef
f
ec
t
s
en
s
o
r
,
an
d
te
m
p
er
atu
r
e
s
e
n
s
o
r
w
er
e
u
s
ed
to
m
a
k
e
it
m
o
r
e
ef
f
icie
n
t
f
o
r
r
esear
ch
a
n
d
s
u
r
v
eil
lan
ce
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
r
esear
ch
m
et
h
o
d
ad
o
p
ted
is
to
p
-
d
o
w
n
ap
p
r
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ac
h
w
h
i
ch
s
p
lit
s
t
h
e
e
n
tire
T
UR
s
y
s
te
m
in
to
h
ar
d
w
ar
e,
s
o
f
t
w
ar
e
an
d
m
ec
h
an
ical
s
y
s
te
m
s
(F
ig
u
r
e
1
)
.
T
h
e
s
o
f
t
w
ar
e
s
y
s
te
m
in
c
lu
d
es
g
r
ap
h
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s
er
co
n
tr
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l
in
ter
f
ac
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an
d
r
o
b
o
t
c
o
n
tr
o
l
p
r
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r
am
co
d
es
w
h
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h
a
r
e
w
r
itte
n
u
s
in
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v
ar
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s
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ig
h
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lev
el
p
r
o
g
r
a
m
m
i
n
g
lan
g
u
a
g
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in
o
r
d
er
to
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h
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v
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th
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d
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d
r
es
u
lt.
Me
c
h
a
n
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y
s
te
m
is
m
ad
e
up
of
P
VC
m
ater
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t
h
at
ar
e
u
s
ed
to
f
o
r
m
s
y
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te
m
ca
s
i
ng.
2
.
1
.
H
a
rdw
a
re
s
y
s
t
em
T
h
e
h
ar
d
w
ar
e
s
y
s
te
m
co
m
p
r
is
es
of
th
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tet
h
er
ed
u
n
d
er
w
ater
r
o
b
o
t
(
T
UR
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an
d
W
iFi
L
AN
r
o
u
ter
.
2
.
1
.
1
.
T
UR
s
y
s
t
e
m
T
UR
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y
s
te
m
co
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s
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n
s
o
r
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co
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tr
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l,
b
u
o
y
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c
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f
r
a
m
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d
ac
t
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r
s
.
T
h
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lo
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d
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r
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of
t
h
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T
UR
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ter
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tio
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Fig
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u
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F
ig
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4
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f
o
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ic
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ice
s
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m
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icate
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ata
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er
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e
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er
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ater
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u
r
e
4
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o
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u
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cat
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TP
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Sens
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h
i
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er
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ith
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ater
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b
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(
c)
Fig
u
r
e
5
.
T
UR
s
en
s
o
r
s
:
(
a)
w
a
ter
p
r
o
o
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u
ltra
s
o
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ic
s
e
n
s
o
r
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b
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v
er
tical
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lo
at
s
w
itc
h
es
,
a
n
d
(
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m
er
a
-
Co
ntr
o
l
s
y
s
t
e
m
:
T
h
is
s
ec
tio
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co
m
p
r
is
es
of
R
asp
b
er
r
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Pi
a
n
d
A
r
d
u
i
n
o
Me
g
a
(F
i
g
u
r
e
6
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o
th
ar
e
u
s
ed
to
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n
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o
l
th
e
en
tire
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R
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Evaluation Warning : The document was created with Spire.PDF for Python.
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2020
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9
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(
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u
r
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6
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C
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tr
o
ller
s
f
o
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th
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c
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o
l
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te
m
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a)
R
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d
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A
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ese
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ices
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r
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n
s
ib
le
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o
r
th
e
r
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o
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n
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er
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ater
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h
e
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d
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ter
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h
e
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ce
th
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els
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e
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o
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e
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h
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ter
as
s
h
o
w
n
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F
i
g
u
r
e
7
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a)
(
b
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(
c)
Fig
u
r
e
7
.
S
y
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te
m
t
h
r
u
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ter
an
d
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o
zz
le:
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a)
B
L
Heli
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r
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t
a
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b
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ater
p
r
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o
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th
r
u
s
ter
,
an
d
(
c
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th
r
u
s
ter
n
o
zz
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-
T
UR
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ct
ua
t
o
r
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en
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ef
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ec
t
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r
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h
e
T
UR
s
er
v
o
m
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e
tr
ap
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ed
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n
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er
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ater
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s
h
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w
n
in
F
ig
u
r
e
8
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(
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Fig
u
r
e
8
.
A
ct
u
ato
r
s
of
t
h
e
T
UR
s
y
s
te
m
:
(
a)
r
o
b
o
t
clam
p
g
r
ip
p
er
an
d
(
b
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w
ater
p
r
o
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f
r
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b
o
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s
er
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I
nd
ica
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o
r
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ht
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:
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h
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icato
r
is
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by
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h
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s
y
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m
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atter
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n
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elate
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ls
o
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s
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h
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e
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o
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in
F
i
g
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r
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9
.
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Fig
u
r
e
9.
B
atter
y
i
n
d
icato
r
an
d
s
w
i
m
m
i
n
g
pool
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h
t:
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a)
Li
P
o
b
atter
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o
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e
in
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ica
to
r
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d
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b
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w
ater
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r
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o
f
s
w
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m
m
in
g
pool
lig
h
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
R
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&
A
u
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m
I
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N:
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4856
P
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to
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me
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ered
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el
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kwu
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o
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lo
a
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ble
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s
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i
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r
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10
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y
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ai
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u
r
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10.
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teel
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t
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UR
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ices:
SD
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e
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o
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er
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ater
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s
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o
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atio
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.
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h
e
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ir
es
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o
r
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ter
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n
ec
ti
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ices
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m
m
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l
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o
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th
e
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s
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h
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w
n
in
F
i
g
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r
e
11
.
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a)
(
b
)
(
c)
(
d
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(
e)
(
f
)
(
g
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Fig
u
r
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11
.
Oth
er
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ev
ices
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ed
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g
t
h
e
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UR
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y
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te
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e
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o
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l
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n
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r
s
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WiFi
L
AN
ro
ute
r
:
T
h
e
TP
r
o
u
ter
(F
ig
u
r
e
4
(
b
)
)
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u
s
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estab
lis
h
n
et
w
o
r
k
w
it
h
in
th
e
s
h
ip
en
v
ir
o
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m
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t
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d
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ab
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th
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m
m
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icate
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h
t
h
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t
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u
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er
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ater
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u
r
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th
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.
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h
e
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o
u
ter
o
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ates
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4
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a.
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ith
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s
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d
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h
ar
t
f
o
r
T
UR
s
y
s
te
m
T
h
e
alg
o
r
ith
m
f
o
r
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n
n
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ti
n
g
GUCI
to
W
iFi
R
o
u
ter
an
d
co
n
tr
o
llin
g
T
UR
is
s
h
o
w
n
b
el
ow
an
d
th
e
f
lo
w
c
h
ar
t
is
s
h
o
w
n
in
F
ig
u
r
e
12
.
1.
Start
2.
Connect
GUI
to
WiFi
Router
3.
Input
battery
level
reading
from
TUR
4.
Display
TUR
battery
level
on
screen
5.
Input
Camera
stream
from
TUR
6.
Display
video
on
screen
7.
Input
IMU
reading
from
TUR
8.
Display
TUR
orientation
on
screen
9.
Listen
for
signals
from
GUCI
buttons
10.
Is
control
character
received?
11.
No:
go
to
step
9
12.
Yes:
Send
control
signal
to
TUR
13.
Is
‘q’
character
rec
eived?
14.
No:
go
to
step
9
15.
Yes:
stop
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
1
9
6
–
2
10
202
Fig
u
r
e
1
2
.
Flo
w
ch
ar
t
of
t
h
e
g
r
ap
h
ical
u
s
er
co
n
tr
o
l
i
n
ter
f
ac
e
of
th
e
T
UR
s
y
s
te
m
2
.
1
.
2
.
T
UR
g
ra
ph
ica
l
us
er
co
ntr
o
l
inte
rf
a
ce
(
G
UCI)
T
h
is
GUCI
i
n
ter
f
ac
e
is
d
esi
g
n
ed
in
Mic
r
o
s
o
f
t
Vi
s
u
al
St
u
d
io
u
s
i
n
g
E
x
te
n
s
ib
le
A
p
p
licati
o
n
Ma
r
k
u
p
L
a
n
g
u
a
g
e
(
X
A
M
L
)
an
d
p
r
o
g
r
a
m
m
ed
w
ith
C#
w
h
ic
h
w
o
u
ld
r
u
n
in
th
e
o
p
er
ato
r
’
s
co
m
p
u
ter
s
y
s
te
m
.
T
h
e
GUCI
w
o
u
ld
be
u
s
ed
by
th
e
o
p
er
ato
r
to
c
o
n
tr
o
l
an
d
ass
is
t
th
e
T
UR
to
s
w
i
m
to
th
e
tar
g
et
(
tr
ap
p
ed
an
ch
o
r
lo
ca
tio
n
)
u
n
d
er
w
ater
a
n
d
r
ele
ases
it.
T
h
e
o
p
er
ato
r
’
s
co
m
p
u
ter
s
y
s
te
m
m
u
s
t
h
a
v
e
a
Wi
-
Fi
f
ac
ili
t
y
f
o
r
ea
s
y
co
n
n
ec
t
io
n
to
th
e
w
ir
ele
s
s
ac
ce
s
s
p
o
in
t
(
W
A
P
)
r
o
u
ter
lin
k
i
n
g
th
e
T
UR
.
T
h
er
e
ar
e
f
iv
e
s
ec
tio
n
s
in
t
h
e
GU
C
I
th
at
th
e
o
p
er
ato
r
w
o
u
ld
u
s
e
f
o
r
T
UR
m
o
n
ito
r
i
n
g
,
co
n
tr
o
lli
n
g
an
d
ass
is
tan
ce
d
u
r
i
n
g
it
s
o
p
er
atio
n
u
n
d
er
w
ater
.
T
h
ese
ar
e
T
UR
o
r
ien
tatio
n
,
T
UR
s
t
atu
s
,
T
UR
o
b
s
tacle
d
etec
tio
n
,
d
is
p
la
y
p
an
el
,
a
n
d
T
UR
lo
c
o
m
o
tio
n
co
n
tr
o
l
as
s
h
o
w
n
in
F
ig
u
r
e
13
.
a.
A
l
g
o
r
ith
m
f
o
r
f
lo
at
m
o
d
e
T
h
e
alg
o
r
ith
m
th
at
ac
tiv
a
tes
t
h
e
f
lo
at
s
w
itc
h
s
e
n
s
o
r
is
s
tate
d
b
elo
w
a
n
d
th
e
f
lo
w
c
h
ar
t
to
ac
co
m
p
li
s
h
it
is
as
s
h
o
w
n
in
F
i
g
u
r
e
14
.
1.
Activate
float
switch
2.
Call
Move
up
subroutine
3.
Is
float
switch
above
water?
4.
No:
go
to
step
2
5.
Yes:
go
to
step
6
6.
Return
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
u
to
m
I
SS
N:
2089
-
4856
P
r
o
to
typ
e
d
ev
elo
p
me
n
t
of
teth
ered
u
n
d
erw
a
ter
r
o
b
o
t
fo
r
u
n
d
erw
a
ter
ve
s
s
el
...
(
E
z
eo
fo
r
C
h
u
kwu
n
a
z
o
Jo
s
ep
h
)
203
Fig
u
r
e
1
3
.
GUCI
f
o
r
m
o
n
ito
r
i
n
g
a
n
d
co
n
tr
o
llin
g
T
UR
s
y
s
te
m
u
n
d
er
w
ater
Fig
u
r
e
14
.
Flo
w
ch
ar
t
f
o
r
ac
tiv
atin
g
a
f
lo
at
s
w
i
tch
s
en
s
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
1
9
6
–
2
10
204
b.
A
l
g
o
r
ith
m
f
o
r
m
a
n
u
al
m
o
d
e
T
h
e
alg
o
r
ith
m
t
h
at
co
n
tr
o
ls
t
h
e
T
UR
i
n
s
id
e
t
h
e
w
ater
th
r
o
u
g
h
t
h
e
g
r
ap
h
ical
u
s
er
co
n
tr
o
l
in
ter
f
ace
at
th
e
o
p
er
ato
r
’
s
lap
to
p
,
th
e
f
l
o
w
ch
ar
t
to
ac
co
m
p
li
s
h
it
is
as
s
h
o
w
n
in
F
i
g
u
r
e
15
.
Fig
u
r
e
15.
Flo
w
ch
ar
t
f
o
r
T
U
R
co
n
tr
o
l
in
ter
f
ac
e
f
r
o
m
th
e
o
p
er
ato
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
u
to
m
I
SS
N:
2089
-
4856
P
r
o
to
typ
e
d
ev
elo
p
me
n
t
of
teth
ered
u
n
d
erw
a
ter
r
o
b
o
t
fo
r
u
n
d
erw
a
ter
ve
s
s
el
...
(
E
z
eo
fo
r
C
h
u
kwu
n
a
z
o
Jo
s
ep
h
)
205
1.
Activate
obstacle
sensors
2.
Output
battery
level
to
GUCI
3.
Output
video
stream
to
GUCI
4.
Input
control
character
from
GUCI
5.
Output
IMU
data
to
GUCI
6.
Process
input
data
7.
Is
‘↑’
character
received?
8.
Yes:
call
move
up
subroutine
and
turn
ON
light
9.
No:
is
‘↓’
character
received?
10.
Yes:
call
move
down
subroutine
and
turn
ON
light
11.
No:
is
‘f’
chara
cter
received?
12.
Yes:
call
float
subroutine
and
turn
ON
light
13.
No:
go
back
to
step
2
14.
Is
‘→’
character
received?
15.
Yes:
call
move
forward
subroutine
and
turn
ON
light
16.
No:
is
‘←’
character
received?
17.
Yes:
call
move
backward
subroutine
and
turn
ON
lig
ht
18.
No:
is
‘t’
character
received?
19.
Yes:
call
turn
subroutine
and
turn
ON
light
20.
No:
is
‘l’
character
received?
21.
No:
go
to
step
2
22.
Yes:
is
light
ON?
23.
Yes:
Turn
off
light
24.
No:
Turn
ON
light
25.
Is
‘e’
character
received?
26.
No:
go
back
to
step
2
27.
Yes:
call
arm
control
subroutine
28.
Is
‘q’
character
received?
29.
No:
go
back
to
step
2
30.
Yes:
go
to
step
31
31.
Return
2
.
1
.
3
.
T
UR
equa
t
io
n
of
m
o
t
io
n
&
i
nfluent
ia
l
f
o
rc
es
T
UR
in
f
l
u
en
tial
f
o
r
ce
s
ar
e
T
UR
h
y
d
r
o
d
y
n
a
m
ics
(
k
i
n
e
m
atics
&
k
in
e
tics
)
an
d
T
UR
h
y
d
r
o
s
tati
cs
(
g
r
av
itatio
n
al
&
b
u
o
y
a
n
c
y
)
.
Oth
er
f
o
r
ce
s
co
n
s
id
er
ed
ar
e
d
r
ag
f
o
r
ce
,
p
r
o
p
u
ls
io
n
f
o
r
ce
,
ad
d
ed
m
ass
f
o
r
ce
,
en
v
ir
o
n
m
e
n
tal
f
o
r
ce
s
(
w
in
d
,
s
ea
cu
r
r
en
t,
w
av
e
s
etc.
)
as
s
tate
d
in
[
13
,
1
4
]
.
a.
Dr
ag
f
o
r
ce
Dr
ag
f
o
r
ce
is
th
e
r
es
is
ta
n
ce
f
o
r
ce
ca
u
s
ed
by
th
e
m
o
tio
n
of
a
body
t
h
r
o
u
g
h
a
f
l
u
id
.
T
h
e
d
r
ag
f
o
r
ce
alo
n
g
x,
y,
z
is
s
h
o
w
n
in
(
1
)
,
(
2
)
an
d
(
3
)
.
(
1
)
(
2
)
(
3
)
w
h
er
e
,
,
(
4
)
d
ep
en
d
s
on
th
e
s
h
ap
e
of
th
e
T
UR
an
d
t
h
e
r
e
y
n
o
ld
s
n
u
m
b
er
.
b.
Der
iv
atio
n
of
th
e
eq
u
a
tio
n
s
of
T
UR
m
o
tio
n
Sin
ce
T
UR
m
o
v
es
u
n
d
er
w
ater
in
s
i
x
d
eg
r
ee
of
f
r
ee
d
o
m
(6
-
DOF)
,
th
e
n
s
i
x
i
n
d
ep
en
d
en
t
c
o
o
r
d
in
ates
ar
e
n
ec
ess
ar
y
to
d
eter
m
in
e
th
e
p
o
s
itio
n
a
n
d
o
r
ien
tatio
n
.
T
r
an
s
latio
n
al
m
o
tio
n
a
n
d
r
o
tatio
n
al
m
o
tio
n
co
m
p
o
n
e
n
t
s
s
h
o
w
n
in
T
ab
le
1
ar
e
co
n
s
id
er
ed
to
d
e
r
iv
e
th
e
n
e
ce
s
s
ar
y
eq
u
a
tio
n
s
of
m
o
tio
n
as
lis
ted
in
[
1
5
]
.
T
ab
le
1
.
C
o
m
p
o
n
e
n
ts
of
tr
a
n
s
l
atio
n
al
an
d
r
o
tatio
n
al
m
o
tio
n
s
M
o
t
i
o
n
C
o
mp
o
n
e
n
t
s
L
i
n
e
a
r
a
n
d
a
n
g
u
l
a
r
v
e
l
o
c
i
t
i
e
s
F
o
r
c
e
s
a
n
d
mo
me
n
t
s
P
o
si
t
i
o
n
a
n
d
E
u
l
e
r
a
n
g
l
e
s
(
S
u
r
g
e
)
mo
t
i
o
n
s
in
t
h
e
x
-
d
i
r
e
c
t
i
o
n
u
X
x
(
S
w
a
y
)
mo
t
i
o
n
s
in
t
h
e
y
-
d
i
r
e
c
t
i
o
n
v
Y
y
(
H
e
a
v
e
)
mo
t
i
o
n
s
in
t
h
e
z
-
d
i
r
e
c
t
i
o
n
w
Z
z
(
R
o
l
l
)
r
o
t
a
t
i
o
n
a
b
o
u
t
t
h
e
x
a
x
i
s
p
K
ɸ
(
P
i
t
c
h
)
r
o
t
a
t
i
o
n
a
b
o
u
t
t
h
e
y
a
x
i
s
q
M
Ɵ
(
Y
a
w
)
r
o
t
a
t
i
o
n
a
b
o
u
t
t
h
e
z
a
x
i
s
r
N
ψ
Evaluation Warning : The document was created with Spire.PDF for Python.