Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components
Ibraheem, A., Hassanein, B., Sharaf, S., Ahmad, M., Magdy, M., Abdelhady, M., Attia, H. (2008). Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components. EKB Journal Management System, 6(6th International Conference on Electrical Engineering ICEENG 2008), 1-17. doi: 10.21608/iceeng.2008.34619
Ali Ibraheem; Bilal Hassanein; Saad Sharaf; Mohi Ahmad; Mahmoud Magdy; Mohamed Abdelhady; Hamada Attia. "Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components". EKB Journal Management System, 6, 6th International Conference on Electrical Engineering ICEENG 2008, 2008, 1-17. doi: 10.21608/iceeng.2008.34619
Ibraheem, A., Hassanein, B., Sharaf, S., Ahmad, M., Magdy, M., Abdelhady, M., Attia, H. (2008). 'Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components', EKB Journal Management System, 6(6th International Conference on Electrical Engineering ICEENG 2008), pp. 1-17. doi: 10.21608/iceeng.2008.34619
Ibraheem, A., Hassanein, B., Sharaf, S., Ahmad, M., Magdy, M., Abdelhady, M., Attia, H. Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components. EKB Journal Management System, 2008; 6(6th International Conference on Electrical Engineering ICEENG 2008): 1-17. doi: 10.21608/iceeng.2008.34619

Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components

The International Conference on Electrical Engineering
Article 168, Volume 6, 6th International Conference on Electrical Engineering ICEENG 2008, May 2008, Pages 1-17    PDF (301.01 K)
Document Type: Original Article
DOI: 10.21608/iceeng.2008.34619
Authors
Ali Ibraheem; Bilal Hassanein; Saad Sharaf; Mohi Ahmad; Mahmoud Magdy; Mohamed Abdelhady; Hamada Attia
Alexandria University, Faculty of Engineering.
Abstract
Abstract:
The present paper proposes a new simple strategy to build underwater robots using
cheap off-the-shelf components. The proposed strategy successfully achieves real-time
operation without requiring expensive special purpose hardware/software. The simple
geometry of the proposed design makes it possible to derive an accurate dynamic model
of the robot. The dynamic model, hardware/software preprocessing of webcam images,
multi-feature Kalman based combining as well as neural networks are used to
compensate for the limited sensors and computational resources.
Keywords
Underwater robotics; Kalman; Neural Networks; Behavior Based Robotics
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