| 摘要 |
<p>The invention relates to a device (1) for dredging soil material under water. The device comprises a pontoon (6), provided with an excavator (10) adapted to excavate soil under water, and actuating means (7,16,17,18,19) adapted to control the motion of the pontoon and/or the excavator. The device further comprises first monitoring means (30,35) adapted to monitor the position of the excavator; second monitoring means (31) adapted to monitor the forces experienced by the excavator; and computing means (33) adapted to compute, on the basis of data obtained from the first and the second monitoring means, control signals for the actuating means. The invention also relates to a method for dredging soil material under water, using the invented device, and to a computer program comprising program instructions that when loaded into a computer carries out the method.
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