AquaBox Series: Small Underwater Robot Systems for Shallow Water Observation

2007 ◽  
Author(s):  
Satomi Ohata ◽  
Yu Eriguchi ◽  
Kazuo Ishii
Keyword(s):  
Shallow Water ◽  
Underwater Robot ◽  
Robot Systems

Modernized TSL-underwater robot for tunnel and shallow-water inspection

2002 ◽  
Author(s):  
M.D. Ageev ◽  
A.A. Boreyko ◽  
V.E. Gornak ◽  
Yu.V. Matvienko ◽  
A.P. Scherbatyuk ◽  
...  
Keyword(s):  
Shallow Water ◽  
Underwater Robot

The Structure Design of the Mini Underwater Robot

2013 ◽  
Vol 307 ◽  
pp. 121-125 ◽  
Author(s):  
Yu Feng Wei ◽  
Fang Liu ◽  
Fei Hu ◽  
Fan Rang Kong
Keyword(s):  
Shallow Water ◽  
Water Area ◽  
Structure Design ◽  
Underwater Robot ◽  
High Definition ◽  
Theoretical Support ◽  
Shallow Water Area ◽  
Underwater Movement

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.

scholarly journals Self-Triggered Model Predictive Control for Perturbed Underwater Robot Systems

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.

scholarly journals Detection of Large Bodies of Water for Heterogeneous Swarm Applications

2017 ◽  
Vol 2 (2) ◽  
pp. 150 ◽  
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.

scholarly journals Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention

2013 ◽  
Vol 20 (4) ◽  
pp. 121-130 ◽  
Author(s):  
Jose Javier Fernandez ◽  
Mario Prats ◽  
Pedro J. Sanz ◽  
Juan Carlos Garcia ◽  
Raul Marin ◽  
...  
Keyword(s):  
Shallow Water ◽  
Underwater Robot ◽  
Robot Arm
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