**Meet the editor**

Nuno A. Cruz received a graduate degree in Electrical Engineering from the University of Porto, Portugal, in 1993, and an M.Sc. in Digital Systems Engineering from UMIST, U.K., in 1994. He is currently a senior researcher with the robotics and intelligent systems group at INESC Porto - Institute for Systems and Computer Engineering of Porto. During the last 15 years he has

been involved the design, development and operation of small-size Autonomous Underwater Vehicles (AUVs) and AUV navigation systems based on acoustics, both in Portugal and abroad. He has designed the mechanical structure and the onboard electronics of the MARES AUV, a hovering type vehicle that is being routinely used in environmental missions since 2007. Recently, this modular design was the basis for the TriMARES, a larger 3-body hybrid AUV/ROV for the inspection of dams and monitoring of reservoirs. His current research activities address the development of innovative guidance techniques, in particular adapting sampling strategies to increase the efficiency in the use of AUVs.

Contents

**Preface IX** 

**Part 1 Vehicle Design 1** 

Chapter 1 **Development of a Vectored Water-Jet-Based Spherical Underwater Vehicle 3**  Shuxiang Guo and Xichuan Lin

Chapter 2 **Development of a Hovering-Type Intelligent** 

Ji-Hong Li, Sung-Kook Park, Seung-Sub Oh, Jin-Ho Suh,

Chapter 3 **Hydrodynamic Characteristics** 

**Part 2 Navigation and Control 65** 

Lei Wan and Fang Wang

Chapter 7 **Fully Coupled 6 Degree-of-Freedom Control of an Over-Actuated** 

Chapter 4 **Real-Time Optimal Guidance** 

Chapter 5 **Formation Guidance** 

**Autonomous Underwater Vehicle, P-SURO 21** 

Gyeong-Hwan Yoon and Myeong-Sook Baek

**of the Main Parts of a Hybrid-Driven Underwater Glider PETREL 39**  Wu Jianguo, Zhang Minge and Sun Xiujun

**and Obstacle Avoidance for UMVs 67**  Oleg A. Yakimenko and Sean P. Kragelund

Matko Barisic, Zoran Vukic and Nikola Miskovic

Chapter 6 **Modeling and Motion Control Strategy for AUV 133** 

**Autonomous Underwater Vehicle 147**  Matthew Kokegei, Fangpo He and Karl Sammut

**of AUVs Using Decentralized Control Functions 99** 
