Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis

This paper is about Ocean Strider; an Underwater Hybrid Vehicle that is modified with hybrid (manual and autonomous) control system. The aims concerning this Underwater Hybrid Vehicle are to be competent to operate underwater by using remote control via operator and seek out the user interested objects, and in case of autonomously to be smart, to visually follow and manage a secured position comparable to a motionless target, and to visually follow and move behind a moving target and avoid the hindrances for reliable navigation. Vision is a fundamental root that promotes the underwater robot to execute various tasks autonomously. Ocean Strider is intelligent to explicitly identify and locate objects by specifying from distinct color codes and dimension of the objects and respond accordingly. Multiple experiments have been conducted in the laboratory the robot successfully operates manually and grasp the objects underwater, and the robot can locate and track the objects autonomously, secure a fixed distance to the fixed object and travel onward with the object as it moves.

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A Variable Buoyancy Control System for a Large AUV

IEEE Journal of Oceanic Engineering ◽

10.1109/joe.2007.911596 ◽

2007 ◽

Vol 32 (4) ◽

pp. 762-771 ◽

Cited By ~ 69

Author(s):

Sekhar Tangirala ◽

John Dzielski

Keyword(s):

Control System ◽

Buoyancy Control

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Construction of Guidance and Control System and GUI of an Autonomous Underwater Robot SOTAB-I

IFAC Proceedings Volumes ◽

10.3182/20130918-4-jp-3022.00007 ◽

2013 ◽

Vol 46 (33) ◽

pp. 13-18 ◽

Cited By ~ 1

Author(s):

R. Kimura ◽

M. Ukita ◽

K. Kamezuka ◽

N. Kato ◽

H. Senga ◽

...

Keyword(s):

Control System ◽

Underwater Robot ◽

Guidance And Control ◽

And Control

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A Study on the Development of Underwater Robot Control System for Autonomous Grasping

The Journal of Korea Robotics Society ◽

10.7746/jkros.2020.15.1.039 ◽

2020 ◽

Vol 15 (1) ◽

pp. 39-47 ◽

Cited By ~ 1

Author(s):

Yoongeon Lee ◽

◽

Yeongjun Lee ◽

Junbo Chae ◽

Hyun-Taek Choi ◽

...

Keyword(s):

Control System ◽

Robot Control ◽

Underwater Robot ◽

Robot Control System

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Depth Control of Underwater Robot with Metal Bellows Mechanism for Buoyancy Control Device Utilizing Phase Transition

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2013.p0795 ◽

2013 ◽

Vol 25 (5) ◽

pp. 795-803

Author(s):

Koji Shibuya ◽

◽

Yukihiro Kishimoto ◽

Sho Yoshii

Keyword(s):

Phase Transition ◽

Control Method ◽

Control Device ◽

Underwater Robot ◽

Maximum Output ◽

Depth Control ◽

Metal Bellows ◽

Control Devices ◽

Target Depth ◽

Buoyancy Control

The ultimate goal of this study is to develop a buoyancy control device that utilizes volume change due to phase transition of material between solid and liquid states. This paper describes the depth control method for an underwater robot fitted with the metal bellows buoyancy control devices that we have developed in this study. Four metal bellows buoyancy control devices are installed on an underwater robot. We first measured underwater robot buoyancy change and found that it agreed roughly with theoretical values. We then checked whether the robot could change buoyancy successively so that the robot rises or sinks as commanded. We then conducted a series of experiments on robot depth control in which if the robot depth is more than a certain distance different from the target depth, control devices are either heated or cooled at maximum output. If such a difference is within the threshold, proportional control is applied to develop output in proportion to the distance to the target depth. Experimental results showed that the underwater robot followed varied target depth with a steady-state deviation of a few cmor so, except in some cases of failure.

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