AquaBox Series: Small Underwater Robot Systems for Shallow Water Observation

A kind of mini underwater robot is introduced in this artical. Aim at the situation of shallow water area(5m~30m)，we analyzed and designed the structure of the whole robot pertinently, and calculated the underwater movement resistance, which thereby could give theoretical support on the choice of thrusters. The robot detects the underwater situation effectively by high definition camera that installed in the front of the robot, and achieves lifting and turning movement though 3 propellers. The manipulator installed in above of the robot could grab underwater objects effectively.

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Self-Triggered Model Predictive Control for Perturbed Underwater Robot Systems

Mathematical Problems in Engineering ◽

10.1155/2021/4324389 ◽

2021 ◽

Vol 2021 ◽

pp. 1-9

Author(s):

Zhongxian Xu ◽

Lile He ◽

Ning He ◽

Lipeng Qi

Keyword(s):

Optimal Control ◽

Optimal Control Problem ◽

Model Predictive Control ◽

Control Problem ◽

Predictive Control ◽

Information Transfer ◽

Control Method ◽

Kinematic Model ◽

Underwater Robot ◽

Robot Systems

Aiming at solving the control problem of a constrained and perturbed underwater robot, a control method was proposed by combining the self-triggered mechanism and the nonlinear model predictive control (NMPC). The theoretical properties of the kinematic model of the underwater robot, as well as the corresponding MPC controller, are first studied. Then, a novel technique for determining the next update moment of both the optimal control problem and the system state is developed. It is further rigorously proved that the proposed algorithm can (1) stabilize the closed-loop underwater robot system, (2) reduce the time of solving the optimal control problem and (3) save the information transfer resources. Finally, a case study is provided to show the effectiveness of the developed researched scheme.

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Detection of Large Bodies of Water for Heterogeneous Swarm Applications

KnE Engineering ◽

10.18502/keg.v2i2.609 ◽

2017 ◽

Vol 2 (2) ◽

pp. 150 ◽

Cited By ~ 1

Author(s):

Benjamin Champion ◽

Patrick Benavidez ◽

Mo Jamshidi ◽

Matthew Joordens

Keyword(s):

Underwater Robot ◽

Kinect Sensor ◽

Robot Systems ◽

Xbox Kinect ◽

Multiple Robot ◽

Bodies Of Water

Multiple robot systems are becoming popular, as introducing more robots into a system generally means that the system is able to finish a task quickly, as well as making the system more robust. Generally, these systems are homogenous in nature as they are easier to build, test and conceptualise. More applications of these types of systems in a heterogeneous sense is becoming a must, as these robots are acting in more than one medium such as on land and underwater. In this paper a subsystem of a heterogeneous swarm is investigated where a land based robot is to drive up to the edge of a pool and stop autonomously, allowing for the transfer of an object from an underwater robot. To detect the edge of a pool an Xbox Kinect sensor is used as it was found that by using the IR feed of the camera the problem becomes significantly simpler.

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