PhD student

PhD Thesis:“Tracking control of a mini submarine using vision”

Advisors: J. Torres (Mex), R. Lozano (Mex) and V. Cruze (LIRMM-Fr).


The application of the submarine vehicles are very wide and promising, for example in areas like inspection, security and exploration for name a few, in certain applications can endanger human life or just required a vehicle to be able to perform tasks autonomously, therefore has been given the task of conducting studies of the construction and inspection of such vehicles.

For the above, it has emerged the idea of working with mini autonomous underwater vehicles, as initial work in this area so extensive, it has arisen to work in the control of vehicle position and orientation of mini submarine, so are working with design, mathematical modeling, control strategies and sensorial systems focused on this type of vehicle.

It has built a prototype that consists of five DC motors, which are operated autonomously. For the orientation and position control of this vehicle, the dynamic model is obtained and a control strategy is proposed using the saturation functions. The stability analysis utilizes the criterion of Routh-Hurwitz and Lyapunov stability theory. Finally, the position and linear velocity of the vehicle is based on using computer vision techniques; this algorithm determines the vehicle position with respect to a given object, and identifies some special characteristics, while the velocity estimation uses the optical flow.






Eduardo CAMPOS MERCADO received the B.S. degree in electromechanical engineering from the ITZ (Instituto Tecnológico de Zacatepec) in 2008, and the M. S. degree in automatic control from the CINVESTAV (Centro de Investigación y de Estudios Avanzados del IPN), México, in 2010. currently he is working toward the Ph.D. degree at the DCA (Department of Automatic Control).

He did a training in HEUDIASYC (HEUristique et DIAgnostic des SYstèmes Complexes ),Compiègne, France, in 2007 .He is currently involved in the development of the AUV (Autonomous Underwater Vehicle and artificial vision application in the underwater robot.

UnderWater Vehicles

Create by C. Castillo