{"id":772,"date":"2026-05-12T15:31:38","date_gmt":"2026-05-12T17:31:38","guid":{"rendered":"https:\/\/sites.usp.br\/lvnt\/?page_id=772"},"modified":"2026-05-12T15:31:38","modified_gmt":"2026-05-12T17:31:38","slug":"research-areas","status":"publish","type":"page","link":"https:\/\/sites.usp.br\/lvnt\/en\/research-areas\/","title":{"rendered":"Research Areas"},"content":{"rendered":"<h2><strong>Main Research Areas<\/strong><\/h2>\n<ul>\n<li>Navigation of Autonomous Underwater Vehicles<\/li>\n<li>Design of Unmanned Aquatic Vehicles<\/li>\n<li>Maneuverability and Dynamic Identification of Autonomous Underwater Vehicles<\/li>\n<li>Hydrodynamics of Autonomous Underwater Vehicles<\/li>\n<li>Control of Unmanned Underwater Vehicles<\/li>\n<li>AUVs: Oceanographic and Environmental Monitoring Applications<\/li>\n<\/ul>\n<h2><strong>Ongoing Investigations<\/strong><\/h2>\n<h4>TITLE: CONTROL OF ROVs AND AUVs SUBJECT TO WAVE DISTURBANCES<\/h4>\n<p style=\"text-align: justify;\"><u>Description<\/u>: This study proposes the investigation of depth and altitude control of AUVs and ROVs operating at shallow depths under the influence of wave disturbances, in order to perform missions of interest to environmental monitoring and activities related to the offshore oil exploration industry. This study is aligned with the continuation of an investigation recently resumed at the Laboratory of Unmanned Vehicles (LVNT-USP), mainly aimed at addressing an important demand from the offshore industry: the stable operation of inspection ROVs at shallow depths, even when subject to wave disturbances.<\/p>\n<div id='gallery-1' class='gallery galleryid-772 gallery-columns-2 gallery-size-large'><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a href='https:\/\/sites.usp.br\/lvnt\/linhas-de-pesquisa\/imgsite\/'><img loading=\"lazy\" decoding=\"async\" width=\"539\" height=\"350\" src=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite.png\" class=\"attachment-large size-large\" alt=\"\" srcset=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite.png 539w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite-300x195.png 300w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite-400x260.png 400w\" sizes=\"auto, (max-width: 539px) 100vw, 539px\" \/><\/a>\n\t\t\t<\/div><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a href='https:\/\/sites.usp.br\/lvnt\/linhas-de-pesquisa\/imgsite2\/'><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"300\" src=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite2.png\" class=\"attachment-large size-large\" alt=\"\" srcset=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite2.png 500w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite2-300x180.png 300w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2023\/12\/imgsite2-400x240.png 400w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/a>\n\t\t\t<\/div><\/figure>\n\t\t<\/div>\n\n<h2><strong>Selected Completed Projects<\/strong><\/h2>\n<h4>TITLE: ADAPTIVE SENSOR FUSION APPLIED TO AUV NAVIGATION<\/h4>\n<p style=\"text-align: justify;\"><u>Description<\/u>: This project addressed one of the main bottlenecks in improving AUV technology and establishing it as a key tool in missions in the areas mentioned. This refers to the AUV navigation problem, that is, estimating its location while submerged. Methods for alignment and initialization of the onboard navigation system are being studied, as well as real-time compensation of sensor errors. In addition to developing a methodology to address these tasks, the project proposes the investigation of adaptive sensor fusion using the Kalman Filter.<\/p>\n<p>As one of its results, the project produced a surface test platform, which may also be used in oceanographic and environmental monitoring missions. It is an unmanned surface aquatic vehicle (USV).<\/p>\n<h4>TITLE: NETUNO, A RESEARCH, DEVELOPMENT, AND INNOVATION NETWORK IN UNDERWATER COMPUTING, INSTRUMENTATION, AUTOMATION, AND ROBOTICS<\/h4>\n<p style=\"text-align: justify;\"><u>Description<\/u>: The project aimed to foster research and development in underwater computing, instrumentation, automation, and robotics, with the objective of training human resources in these areas. In addition to courses and workshops, the project also included the development of equipment, particularly an autonomous underwater vehicle for oceanographic applications. In this area, the project produced an autonomous system for plankton detection and filming, which was patented.<\/p>\n<p><u>Principal Researchers<\/u>: Ettore Apolonio de Barros (EPUSP), Rubens Lopes (IOUSP) &#8211; Coordinator, Silvia Silva da Costa Botelho (FURG), Paulo Drews (FURG)<\/p>\n<p><u>Funding agency<\/u>(ies): Coordination for the Improvement of Higher Education Personnel &#8211; Financial Support. <u>Period<\/u>: 2014-2019<\/p>\n<h4><u>TITLE<\/u>: DETECTION OF THIN LAYERS BY AN AUTONOMOUS SUBMERSIBLE VEHICLE IN A COASTAL ECOSYSTEM<\/h4>\n<p style=\"text-align: justify;\"><u>Description<\/u>: Thin layers are oceanographic features formed by high concentrations of particulate matter and planktonic organisms retained in aggregations with small vertical thickness. These structures are areas of intense biogeochemical activity in stratified oceans, but there are no studies on their occurrence and persistence in coastal ecosystems of the Southern Hemisphere. Thin layers are difficult to detect using traditional sampling techniques. In this project, sensors were used to evaluate physical-chemical and bio-optical properties relevant to the detection of these layers. The sensors were housed in an Autonomous Underwater Vehicle (AUV), the AUV Pirajuba, developed with Brazilian technology by LVNT-USP. The AUV Pirajuba carried out monthly missions in the Ubatuba region, on the northern coast of S\u00e3o Paulo. Perpendicular transects to the coast were conducted, during which the AUV undulated from the surface of the water column to near the seabed, at a speed suitable for recording oceanographic properties at the relevant scales for detecting thin layers. A submersible holographic camera attached to the bow of the AUV Pirajuba collected high-resolution images of organisms associated with the thin layers.<\/p>\n<p><u>Principal Researchers<\/u>: Ettore Apolonio de Barros (EPUSP) &#8211; Coordinator \/ Rubens Mendes Lopes (IOUSP) \u2013 Eduardo Lorenzetti Pellini (EPUSP).<\/p>\n<p>Funding agency: S\u00e3o Paulo Research Foundation &#8211; Financial Support. <u>Period<\/u>: 2014-2016.<\/p>\n<h4>TITLE: NUMERICAL INVESTIGATION OF HYDRODYNAMIC FORCES ON AUTONOMOUS UNDERWATER VEHICLES<\/h4>\n<p style=\"text-align: justify;\"><u>Description<\/u>: This research project aims to conduct a study in the areas of hydrodynamic modeling and optimization of geometric parameters of Autonomous Underwater Vehicles (AUVs), based on Computational Fluid Dynamics (CFD) techniques. This proposal is part of a research context in the area of AUV maneuverability that has characterized the activities of the Laboratory of Unmanned Vehicles, LVNT, at the University of S\u00e3o Paulo. In particular, the proposed research plan represents a continuation of investigations on the estimation of hydrodynamic forces carried out in the project \u201cDevelopment of Low-Cost Autonomous Vehicles\u201d, funded by FAPESP, grant no. 07\/56646-5. The development of methodologies for estimating hydrodynamic forces from the geometric characteristics of vehicles has, as one of its applications, the optimization of shapes aimed at improving performance and increasing vehicle autonomy. In the case of AUVs, also due to the lack of established methodologies, few studies explore the estimation of hydrodynamic parameters in the optimization of vehicle maneuvering performance. Therefore, another area that can benefit from the proposed research is identified. This project deals with the estimation of static lift forces, by varying the angle of attack in the absence of angular velocities, dynamic forces arising from rotational movements of the vehicle, added mass forces, and viscous drag forces. Static and viscous drag forces are being validated through tests with hydroplanes and a captive model in a towing tank. The estimates of the dynamic derivatives will be verified according to the response of the AUV Pirajuba, which is being developed at LVNT, in self-propelled tests. In particular, the development of the AUV Pirajuba within this project is also noteworthy.<\/p>\n<p>Principal Investigators: Ettore Apol\u00f4nio de Barros (EPUSP), Jo\u00e3o Lucas Dozzi Dantas (EPUSP).<\/p>\n<p>Funding agency: FAPESP &#8211; Financial Support. Period: 2009-2011<\/p>\n<p><a href=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem6.png\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-436 aligncenter\" src=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem6-300x227.png\" alt=\"\" width=\"424\" height=\"321\" srcset=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem6-300x227.png 300w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem6-80x60.png 80w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem6-400x302.png 400w, https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem6.png 680w\" sizes=\"auto, (max-width: 424px) 100vw, 424px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: center;\"><a><span class=\"su-custom-gallery-title\" style=\"font-size: 13.5px;\">Trajectory Estimation: Simulation Results<\/span><\/a><\/p>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"\" src=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/Imagem4.png\" width=\"708\" height=\"302\" \/><\/p>\n<div class=\"su-custom-gallery-slide\" style=\"text-align: center;\"><a><span class=\"su-custom-gallery-title\" style=\"font-size: 13.5px;\">Sensor Integration Scheme<\/span><\/a><\/div>\n<div class=\"su-custom-gallery-slide\" style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"\" src=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/CFD-3.jpg\" width=\"700\" height=\"302\" \/><\/div>\n<div>\n<div class=\"su-custom-gallery-slide\" style=\"text-align: center;\"><a><span class=\"su-custom-gallery-title\" style=\"font-size: 13.5px;\">CFD Isometric View<\/span><\/a><\/div>\n<div class=\"su-custom-gallery-slide\" style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"\" src=\"https:\/\/sites.usp.br\/lvnt\/wp-content\/uploads\/sites\/346\/2021\/08\/CFD-4.png\" width=\"701\" height=\"248\" \/><\/div>\n<div>\n<div class=\"su-custom-gallery-slide\" style=\"text-align: center;\"><a><span class=\"su-custom-gallery-title\" style=\"font-size: 13.5px;\">CFD Side View<\/span><\/a><\/div>\n<\/div>\n<\/div>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Main Research Areas Navigation of Autonomous Underwater Vehicles Design of Unmanned Aquatic Vehicles Maneuverability and Dynamic Identification of Autonomous Underwater Vehicles Hydrodynamics of Autonomous Underwater Vehicles Control of Unmanned Underwater Vehicles AUVs: Oceanographic and Environmental Monitoring Applications Ongoing Investigations TITLE: CONTROL OF ROVs AND AUVs SUBJECT TO WAVE DISTURBANCES Description: This study proposes the investigation<a href=\"https:\/\/sites.usp.br\/lvnt\/en\/research-areas\/\">[&#8230;]<\/a><\/p>\n","protected":false},"author":25293,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-772","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/pages\/772","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/users\/25293"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/comments?post=772"}],"version-history":[{"count":1,"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/pages\/772\/revisions"}],"predecessor-version":[{"id":773,"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/pages\/772\/revisions\/773"}],"wp:attachment":[{"href":"https:\/\/sites.usp.br\/lvnt\/wp-json\/wp\/v2\/media?parent=772"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}