DESIGN,CONTROLAND APPLICATIONSOFTHE UNDERWATERROBOTISFAR

Abstract

 The underwater robot Isfar, which falls within the mini ROV and AUV vehicle classifications, is
 designed and described in this study. Together with the classification of the Isfar into certain classes
 of underwater vehicles, the mechanical construction, control system architecture, and the most
 important applications of such a vehicle are discussed.
 choices on their own. The definition of a new class of underwater vehicles, known as AUVs
 (Autonomous Underwater Vehicles), is the outcome of these recent advancements. AUVs are
 designed to gather information from the sensory system—like captured pictures and certain
 measurements—without the operator's assistance. In order to combine the tether less, autonomous
 operation of AUVs with the mane uverability and wide range of uses of mini ROVs, this study
 introduces the robot Isfar, which is a member of the mini ROV class and has the capacity to change
 into the AUV class. 'Isfar' means 'yellow' in Maltese.