Special Issue on Underwater Robotics and Mechatronics

2013 ◽  
Vol 25 (5) ◽  
pp. 771-771
Author(s):  
Kuniaki Kawabata ◽  
Fumiaki Takemura ◽  
Shinichi Sagara ◽  
Kazuo Ishii ◽  
Teruo Fujii
Keyword(s):  
Extreme Environments ◽  
Underwater Vehicles ◽  
Mobile Manipulators ◽  
Underwater Robotics ◽  
The Earth ◽  
Visual Survey ◽  
New Ideas ◽  
Control Devices ◽  
Buoyancy Control

With two-thirds of the earth covered by oceans, rivers, lakes, ponds, and glaciers – underwater work becomes specialized in often extreme environments that need unusual solutions. The unique techniques required are central to the major research and development fields of robotics and mechatronics. Research related to finding the resources and environmental observation makes underwater technology an attractive field for study. This issue covers advanced R&D in underwater robotics and mechatronics, their applications and uses. The 7 papers brought together introduce the latest in underwater robotics and mechatronics findings. Three are related to visual systems and image processing for underwater observation and inspection and visual survey. Three are related to designs for mechanisms enabling mobile manipulators, buoyancy control devices and deformable tensegrity structures for underwater vehicles. The last but not least paper implements control of underwater vehicles with passive thrusters. These cutting-edge presentations exploring underwater robotics and mechatronics are both innovative and interesting and may give you new ideas for your own work. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.

On-board electronic telecommunication equipment with laser illumination in integrated search systems of underwater vehicles

2021 ◽  
Vol 4 ◽  
pp. 20-28
Author(s):  
V. L. Martynov ◽  
◽  
I. L. Skripnik ◽  
Y. G. Ksenofontov ◽  
M. S. Shimanskaya ◽  
...  
Keyword(s):  
Search Algorithm ◽  
World Ocean ◽  
Underwater Vehicles ◽  
Optimal System ◽  
Electronic Systems ◽  
Underwater Robotics ◽  
Optimal Sequence ◽  
Radio Electronic ◽  
The Creation ◽  
Search Systems

The intensive development of autonomous underwater robotic complexes is very important for the development of the World Ocean. One of the main problems of using underwater robotic complexes is an increase searching efficiency of underwater devices based on the integration of the capabilities of onboard radio-electronic systems of obtaining information in various physical fields. Analyzing the physical basis of the search, including the consideration of the environment of its conduct, objects, as well as detection tools, it can be noted that the result of the search operations of the same objects in the same water areas for various underwater robotic complexes depends on what means of detection they are equipped. The presence of a certain set of the technical means will specify the development of the optimal sequence of actions of the search algorithm. The creation of such algorithms in relation to the task of increasing the search potential of underwater robotics will determine the direction of the research that ensures the formation of an optimal system of underwater search. Efficient use of search resources substantiates the conclusion that radio-electronic means of submersibles forming the system of underwater search, include the number of devices functionally interconnected for its effective conduct. The specified combination is aimed at the formation of the so-called integrated search system, which provides an exchange of information between different channels of searching devices about all objects detected. The article provides proposals for the creation of integrated search systems taking into account practical experiments and experience in designing underwater vehicles capable to implement the optimal system of underwater search using laser technologies.

scholarly journals Autonomous Underwater Vehicle in Internet of Underwater Things: A Survey

2021 ◽  
Vol 2129 (1) ◽  
pp. 012080
Author(s):  
Chinonso Okereke ◽  
Nur Haliza Abdul Wahab ◽  
Mohd Murtadha Mohamad ◽  
S H Zaleha
Keyword(s):  
Energy Storage ◽  
Crucial Role ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
The Internet ◽  
The Earth ◽  
Future Work

Abstract Water, mostly oceans, covers over two-third of the earth. About 95% of these oceans are yet to be explored which includes 99% of the sea-beds. The introduction of the Internet of Underwater Things (IoUT) underwater has become a powerful technology necessary to the quest to develop a SMART Ocean. Autonomous Underwater Vehicles (AUVs) play a crucial role in this technology because of their mobility and longer energy storage. In order for AUV technologies to be effective, the challenges of AUVs must be adequately solved. This paper provides an overview of the challenges of IoUT, the contributions of AUVs in IoUT as well as the current challenges and opening in AUV. A summary and suggestion for future work was discussed.

scholarly journals Development of Deterministic Artificial Intelligence for Unmanned Underwater Vehicles (UUV)

2020 ◽  
Vol 8 (8) ◽  
pp. 578
Author(s):  
Timothy Sands
Keyword(s):  
Artificial Intelligence ◽  
Differential Equations ◽  
Underwater Vehicles ◽  
Stochastic Methods ◽  
Self Awareness ◽  
Final States ◽  
Final Time ◽  
Unmanned Underwater Vehicles ◽  
Sinusoidal Functions ◽  
Buoyancy Control

The major premise of deterministic artificial intelligence (D.A.I.) is to assert deterministic self-awareness statements based in either the physics of the underlying problem or system identification to establish governing differential equations. The key distinction between D.A.I. and ubiquitous stochastic methods for artificial intelligence is the adoption of first principles whenever able (in every instance available). One benefit of applying artificial intelligence principles over ubiquitous methods is the ease of the approach once the re-parameterization is derived, as done here. While the method is deterministic, researchers need only understand linear regression to understand the optimality of both self-awareness and learning. The approach necessitates full (autonomous) expression of a desired trajectory. Inspired by the exponential solution of ordinary differential equations and Euler’s expression of exponential solutions in terms of sinusoidal functions, desired trajectories will be formulated using such functions. Deterministic self-awareness statements, using the autonomous expression of desired trajectories with buoyancy control neglected, are asserted to control underwater vehicles in ideal cases only, while application to real-world deleterious effects is reserved for future study due to the length of this manuscript. In totality, the proposed methodology automates control and learning merely necessitating very simple user inputs, namely desired initial and final states and desired initial and final time, while tuning is eliminated completely.

Anders Celsius’ Contributions to Meridian Arc Measurements and the Establishment of an Astronomical Observatory in Uppsala

2011 ◽  
Vol 20 (2) ◽  
Author(s):  
H. C. Stempels
Keyword(s):  
18Th Century ◽  
Astronomical Observatory ◽  
Far North ◽  
15Th Century ◽  
The Earth ◽  
New Ideas ◽  
Extensive Collection ◽  
Modern Astronomy ◽  
Early 18Th Century ◽  
The Way

AbstractAstronomy has been on the curriculum of Uppsala University from at least the middle of the 15th century. However, since Uppsala also was the ecclesiastical centre of Sweden, the acceptance of new ideas, such as the Copernican heliocentric system, was slow. At the same time, more peripheral universities in the Swedish empire, including Dorpat/Tartu, enjoyed a larger freedom. It was not until the early 18th century that a ‘modern’ astronomy emerged in Uppsala. This effort was to a large extent led by Anders Celsius (1701-1744), who was able to establish good international contacts with astronomers in continental Europe. Celsius participated in De Maupertuis’ expedition to the far north of Sweden, in order to measure the meridian arc and determine the shape of the Earth. This paper explores how Celsius became involved in De Maupertuis’ expedition, and how this effort paved the way to the establishment of a fully equipped astronomical observatory, including an extensive collection of books and instruments, most of which survives up to this day.

The concept of a quiet undulating propulsion with ionic polymer-metal composites in autonomous underwater vehicles

2018 ◽  
Vol 1 (89) ◽  
pp. 35-40
Author(s):  
A. Adamczyk
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Future Application ◽  
Underwater Robotics ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Materials Research ◽  
Polymer Metal ◽  
Living Organisms

Purpose: Recent years have shown a dynamic development of underwater robotics. Autonomous biomimetic underwater vehicles (BUVs) with undulating propulsion are the latest branch in this area. They imitate not only the construction of underwater living organisms such as fish, but also kinematics of their motion. Such solution gives more energy efficient propulsion with less noise comparing to classical propulsion based on screw propellers [1]. However even the latest solutions still use the same electromagnetic engines to drive those sophisticated constructions. This article contains the concept of a ionic polymer-metal composites drive, design for undulating propulsion. Design/methodology/approach: Design of the new type of fin requires further tests and presented model takes under the consideration influence of only few factors described in this paper. Findings: Results of the research confirm theoretical behaviour of IPMC’s (Ionic Polymer- Metal Composites) and show some disadvantages of this type of materials. Research limitations/implications: The effects of the research are limited to macroscopic observation with limited accuracy. Practical implications: Results of the research show possible future application of IPMC’s (in underwater robotics). Originality/value: Results of this research opens a new idea which with further tests may result in developing a new quiet undulating propulsion for BUV’s.

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

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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