scholarly journals 1A1-I05 Development of the Floating Robot for Position Measurement of Underwater Robots(Underwater Robot and Mechatronics (1))

2014 ◽  
Vol 2014 (0) ◽  
pp. _1A1-I05_1-_1A1-I05_2
Author(s):  
Kazuma NOHA ◽  
Fumiaki TAKEMURA ◽  
Kuniaki KAWABATA ◽  
Norimitsu SAKAGAMI ◽  
Satoru TAKAHASHI ◽  
...  
Keyword(s):  
Underwater Robot ◽  
Position Measurement ◽  
Underwater Robots

HISTORY OF DEVELOPMENT OF SQUID-LIKE BIOMIMETIC UNDERWATER ROBOTS WITH UNDULATING SIDE FINS

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Md. Mahbubar Rahman ◽  
W. B. Wan Nik ◽  
Yasuyuki Toda
Keyword(s):  
High Performance ◽  
Underwater Vehicle ◽  
The Body ◽  
Vehicle Design ◽  
Underwater Robot ◽  
Basic Tool ◽  
Underwater Robots ◽  
Fifth Generation ◽  
History Of Development ◽  
History Of

The underwater robot is a basic tool to explore the unknown territories in the underwater region of the coastal areas and oceans, both from the scientific and industrial perspectives. With the aim of developing an efficient and environmentally friendly underwater robot, a Squid-like robot with two undulating side fins has been developing for many years by the authors' group in Osaka University, Japan. The high ambitious project started in 2002; from then different models have been developed to reach the goal of achieving a high-performance underwater vehicle. The body and propulsion system of the robot have been developed by following the swimming mechanism of flat-fishes that use undulating side fins, e.g. Squid, Stingray Cuttlefish and Manta. The Squid-robot is now in its fifth generation of development. In the present paper, the review of the development of models of the Squid-robot is presented. The development of the mechanical system and the control system of each model is described in brief. Some CFD computations and motion simulations of Model-4 are also discussed. The background of developing a new model and the updated features are stated for each model respectively. The future target of development of the robot is also pointed out. The objective of this paper is to provide relevant and useful information to the engineers involved in underwater vehicle design, and for those with an interest in the fast-growing area of biomimetic swimming robots.

Design of Contest for Educational Underwater Robot for STEM: Learning Applying Modeling Based on Control Engineering

2017 ◽  
Vol 29 (6) ◽  
pp. 957-968 ◽  
Author(s):  
Hirokazu Yamagata ◽  
◽  
Toshio Morita
Keyword(s):  
Block Diagram ◽  
Educational Activity ◽  
Underwater Robot ◽  
Stem Learning ◽  
Underwater Robots ◽  
Control Engineering ◽  
Educational Method ◽  
Free Body ◽  
And Mathematics ◽  
Large Groups

To apply science, technology, engineering, and mathematics (STEM) education effectively, it is necessary to prepare a core that would combine its four elements and to place it centrally in an educational activity. The present authors have previously conducted an educational activity, the core of which comprised model construction using free-body diagrams (FBDs); this activity was targeted at a small group of learners. The authors employed underwater robots as the instructional material, and confirmed that positive learning effects can be produced. In the present study, we used a block diagram to construct a model of educational activities to educate participants by introducing an underwater robot and FBDs to a large group of learners, simultaneously. In addition, we designed an educational program, which ensured that the configuration would remain potent when expanded to large groups, aiming toward ensuring the educational effects. We hosted a contest based on this configuration, then evaluated the results qualitatively – by observing the participating students – and quantitatively – by conducting a questionnaire survey – to verify the effects. As a result, it was confirmed that consistency can be obtained even if the conventional educational method is extended to a larger number of student.

scholarly journals Salmon behavioural response to robots in an aquaculture sea cage

2020 ◽  
Vol 7 (3) ◽  
pp. 191220
Author(s):  
M. Kruusmaa ◽  
R. Gkliva ◽  
J. A. Tuhtan ◽  
A. Tuvikene ◽  
J. A. Alfredsen
Keyword(s):  
Video Processing ◽  
Animal Health ◽  
Practical Method ◽  
Underwater Robot ◽  
Valuable Insight ◽  
Underwater Robots ◽  
Marine Aquaculture ◽  
Significant Difference ◽  
Fish Aggregation ◽  
Sea Cage

Animal–robot studies can inform us about animal behaviour and inspire advances in agriculture, environmental monitoring and animal health and welfare. Currently, experimental results on how fish are affected by the presence of underwater robots are largely limited to laboratory environments with few individuals and a focus on model species. Laboratory studies provide valuable insight, but their results are not necessarily generalizable to larger scales such as marine aquaculture. This paper examines the effects of underwater robots and a human diver in a large fish aggregation within a Norwegian aquaculture facility, with the explicit purpose to improve the use of underwater robots for fish observations. We observed aquaculture salmon's reaction to the flipper-propelled robot U-CAT in a sea cage with 188 000 individuals. A significant difference in fish behaviour was found using U-CAT when compared to a thruster-driven underwater robot, Argus Mini and a human diver. Specifically, salmon were more likely to swim closer to U-CAT at a lower tailbeat frequency. Fish reactions were not significantly different when considering motor noise or when U-CAT's colour was changed from yellow to silver. No difference was observed in the distance or tailbeat frequency as a response to thruster or flipper motion, when actuated and passively floating robots were compared. These results offer insight into how large aggregations of aquaculture salmon respond to underwater robots. Furthermore, the proposed underwater video processing workflow to assess fish's response to underwater robots is simple and reproducible. This work provides a practical method to study fish–robot interactions, which can lead to improved underwater robot designs to provide more affordable, scalable and effective solutions.

Use of a Deformable Tensegrity Structure as an Underwater Robot Body

2013 ◽  
Vol 25 (5) ◽  
pp. 804-811 ◽  
Author(s):  
Mizuho Shibata ◽  
◽  
Takahiro Miyamura ◽  
Norimitsu Sakagami ◽  
Shigeharu Miyata ◽  
...  
Keyword(s):  
Trigonal Prism ◽  
Experimental Results ◽  
Underwater Robot ◽  
Underwater Robots ◽  
Simplified Models ◽  
Tensegrity Structure ◽  
Robot Body

The locomotion of underwater robots depends on their shapes. Underwater robots for inspecting undersea structures must not only move long distances but must rotate during inspection. We propose using an underwater robot that moves translationally and rotationally by altering its shape. In this paper, we introduce a deformable twisted trigonal prism tensegrity structure as a robot and evaluate its use as an underwater robot through several simplified models and experimental results.

scholarly journals A Novel Path Control Algorithm for Networked Underwater Robot

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Minghong She ◽  
Liyu Tian
Keyword(s):  
Curve Fitting ◽  
Control Method ◽  
Target Function ◽  
Underwater Robot ◽  
Underwater Robots ◽  
Nurbs Curve ◽  
Basic Fluid ◽  
Path Control ◽  
Fitting Method ◽  
Curve Fitting Method

Under the network environment, the traditional control method of underwater Robot path has the disadvantages of low control accuracy, large error, and inefficiency. This paper proposes a novel path control method for underwater Robots based on the NURBS (nonuniform rational B-spline, NURBS) curve fitting method, which utilizes a sensor or camera to detect the static and dynamic obstacles, establishes the kinematics model of underwater Robots, gets the target function of rob shortest path, and analyzes underwater Robot constraints. According to the basic fluid mechanics, the resistance of the underwater Robot is determined. The filter function is used to smooth the process, and the NURBS curve fitting method is applied to control the path of the underwater Robot. Experimental results show that the improved method that proved to be practical is superior to the traditional one in the aspect of control time and accuracy.

Selection of Method for Underwater Robot Control

2010 ◽  
Vol 164 ◽  
pp. 149-154 ◽  
Author(s):  
Piotr Szymak
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Numerical Analysis ◽  
Automatic Control ◽  
Robot Control ◽  
Underwater Vehicle ◽  
Underwater Robot ◽  
Underwater Robots ◽  
The Mathematical Model ◽  
Selection Of

Automatic control of motion of underwater robots, particularly along desired trajectory, requires application of proper controllers taking into account dynamics of the underwater robot and features of the marine environment. In the paper the mathematical model of an underwater vehicle [2] and the architecture of designed control system [4] have been presented. Moreover, selected results of numerical analysis in the form of comparison of different course controllers have been provided.

Design and implementation of underwater search for salvage robot power system

2021 ◽  
pp. 1-10
Author(s):  
Junbing Qian ◽  
Zhongru Xu ◽  
Yongyou Luo ◽  
Nan Pan ◽  
Yi Liu
Keyword(s):  
Electronic Device ◽  
Water Pressure ◽  
Wind Waves ◽  
Water Area ◽  
Underwater Robot ◽  
Underwater Robots ◽  
Automatic Stabilization ◽  
Shallow Water Area ◽  
Dynamics And Control ◽  
And Control

Most of the underwater salvage operations work in shallow waters. The underwater environment is complex and varied. There are many risks and unpredictable conditions such as turbulence, eddies, wind, waves and deep water pressure. The motion and control cause serious interference, and the flexibility of automatic stabilization and multi-dimensional motion under external disturbances is increasingly becoming a key element in the design process of underwater robots. In this paper, the structure, driving and control design of an underwater dynamic search and underwater robot based on 6-DOF driving is proposed, and its dynamics and control system are analyzed. Different from the traditional underwater robot technology, the method proposed in this paper is more suitable for shallow water area and multi DOF driving control technology. The driving structure and electronic device of the robot are introduced. Several experiments were carried out in the controlled environment. The experimental results demonstrate the correctness and effectiveness of the design and analysis.

scholarly journals Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1210
Author(s):  
Esther Aguado ◽  
Zorana Milosevic ◽  
Carlos Hernández ◽  
Ricardo Sanz ◽  
Mario Garzon ◽  
...  
Keyword(s):  
Autonomous Systems ◽  
Underwater Robot ◽  
Self Awareness ◽  
Underwater Robots ◽  
Unexpected Events ◽  
Operational Conditions ◽  
Knowledge Based ◽  
Autonomous Operation ◽  
Sufficient Degree

Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission-oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.

scholarly journals A Mirror-Based Active Vision System for Underwater Robots: From the Design to Active Object Tracking Application

2021 ◽  
Vol 8 ◽  
Author(s):  
Noel Cortés-Pérez ◽  
Luz Abril Torres-Méndez
Keyword(s):  
Object Tracking ◽  
High Speed ◽  
Vision System ◽  
Lightweight Design ◽  
Research Work ◽  
Active Vision ◽  
Easy Access ◽  
Underwater Robot ◽  
Active System ◽  
Underwater Robots

A mirror-based active system capable of changing the view’s direction of a pre-existing fixed camera is presented. The aim of this research work is to extend the perceptual tracking capabilities of an underwater robot without altering its structure. The ability to control the view’s direction allows the robot to explore its entire surroundings without any actual displacement, which can be useful for more effective motion planning and for different navigation strategies, such as object tracking and/or obstacle evasion, which are of great importance for natural preservation in environments as complex and fragile as coral reefs. Active vision systems based on mirrors had been used mainly in terrestrial platforms to capture the motion of fast projectiles using high-speed cameras of considerable size and weight, but they had not been used on underwater platforms. In this sense, our approach incorporates a lightweight design adapted to an underwater robot using affordable and easy-access technology (i.e., 3D printing). Our active system consists of two arranged mirrors, one of which remains static in front of the robot’s camera, while the orientation of the second mirror is controlled by two servomotors. Object tracking is performed by using only the pixels contained on the homography of a defined area in the active mirror. HSV color space is used to reduce lighting change effects. Since color and geometry information of the tracking object are previously known, a window filter is applied over the H-channel for color blobs detection, then, noise is filtered and the object’s centroid is estimated. If the object is lost, a Kalman filter is applied to predict its position. Finally, with this information, an image PD controller computes the servomotor articular values. We have carried out experiments in real environments, testing our active vision system in an object-tracking application where an artificial object is manually displaced on the periphery of the robot and the mirror system is automatically reconfigured to keep such object focused by the camera, having satisfactory results in real time for detecting objects of low complexity and in poor lighting conditions.

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