Abstract This paper describes the development of an underwater robot that performs visual inspection while making mechanical contact with a dam surface by pulling force generated from thrusters negative pressure effect plates. In general, small and lightweight remotely operated vehicles (ROVs) have low‐power thrusters. Their positioning performance is inferior respect to external disturbances. Moreover, it difficult for untrained operators control ROV position check inspect dams visually. A...

Abstract This paper reports the development of a lightweight remotely operated vehicle that performs underwater excavation work for archaeological surveys. Discovering artifacts is generally difficult because they are in high risk areas and often covered with sediment. To discover them, divers large vehicles must conduct manipulator(s). Nevertheless, accomplishing such tasks small portable robots without As described herein, we developed robot 35 kg can remove sediment from seabed or lake...

In this paper, we describe the development of a human-sized remotely operated vehicle (ROV) with dual-arm. The developed ROV was designed to perform biological researches, geological researches and archaeological explorations in Lake Biwa, biggest lake Japan. This has two distinguishing characteristics: one is dual-manipulator system other an attitude control system. size manipulators related human arm so that can do work divers usually using arms. capable keeping horizontal plane, purposely...

As described in this paper, we propose an attitude control system for underwater vehicle/manipulator systems (UVMSs) based on of the position center buoyancy with respect to gravity. Control is accomplished using movable float blocks. The useful pitch angle UVMSs enhance their performance and improve efficiency operations. A UVMS that has two 5-degree-of-freedom (DOF) manipulators was developed verify effectiveness proposed system. This paper presents a numerical study some experimental...

This paper reports the development of a robotic inspection system using mechanical contact mechanism that enhances positioning stability small and lightweight underwater robot to take clear images targets work with manipulators for inspections under external disturbances. As described in this paper, first we perform two‐dimensional numerical analysis based on force moment acting an mechanism. Second, experimentally investigate friction coefficients several soft high materials points...

This paper describes the design, development, and experiments of an autonomous wave-powered boat with a wave devouring propulsion system (WDPS). The WDPS consists two fins (hydrofoils) below bow boat. They generate thrust force directly from power reduce roll pitch motion in waves. As described herein, first we performed numerical analysis preliminary experiment to design hull form WDPS. Based on experimentally obtained results, designed developed prototype We also electrically powered...

A new method to analyze the dynamics of underwater robot manipulators is proposed in this paper. In method, hydrodynamic terms such as added mass, drag and buoyancy robots are obtained by iterative learning control time-scale transformation. The advantage not use parameter estimation dynamics. paper, we explain that can be applied hardware design, motion planning robots. Moreover, experimental results using a 1-DOF 3-DOF manipulator demonstrate effectiveness method.

AbstractA portable underwater robot that has a high pressure resistance is required for easy observations in wide area. In this manuscript, we discuss the fabrication and design of fish-like outer body composed by flexible thin plastic film. Force generated differential between inside outside zero due to flexibility. Therefore, film does not ideally break under pressurized environment. The entire fabricated vacuum packaging machine. We call packaging. guide our depends on density insulating...

In this paper, a robust nonlinear controller is proposed for trajectory tracking of underwater vehicle-manipulator systems (UVMS). The non-adaptive and sliding mode type, designed based on the decentralized form dynamics UVMS. It has advantages simplicity, robustness, precise performance, ease implementation. order to demonstrate effectiveness controller, several simulations using five degrees freedom UVMS are conducted. results show that provides high performance in presence uncertainties...

Autonomous underwater vehicles are increasingly replacing the prevalent remotely operated vehicle-manipulator systems. Most current generation AUVs not fitted with manipulators and hence mainly limited to surveying surveillance tasks because of difficulty in coordinated control resulting While several researchers have proposed various techniques for AUVs, there is still much research be done on precise manipulators. This paper presents an intelligent method based neuro-fuzzy approach. The...

This paper presents development and motion evaluation of a human-portable underwater robot for soil core sampling. The developed is remotely operated vehicle (ROV) with sampling pipe. In general, devices are heavy penetrate into the by their own weight. contrast, lightweight penetrates its thrust force. has neutral buoyancy; it can therefore move to desired areas using thrusters. As explained in this paper, we describe specifications present results preliminary experiments performance....

This paper reports the development and experiments of an underwater 6-DOF gripper robot. The developed robot is a human-portable remotely operated vehicle (ROV) that weighs approximately 31 kg in air. most important feature this it can grasp cylindrical objects 50-500 mm diameter, handle them 6 DOF. We also dedicated operating device to use effectively. To reduce operator burden during tasks, several software functions are provided, such as thrust allocation, depth control, pitch angle...

This paper presents ship hull inspection using a small underwater robot with mechanical contact mechanism. We propose approach in order to conduct inspection, and develop mechanism, hand-eye vision system, stereo camera system. The proposed mechanism enhances the position orientation keeping performance of robots. developed system provide fine detailed information for inspection. In this paper, we numerically analyze fundamental experiments test tank. Additionally, inspect ship's port as...

The Yarabuoki underwater site contains seven iron grapnel anchors and Early Modern Okinawan ceramic jars is dated to the 16th–19th centuries. lies at a depth of 12–32 m off western coast Ishigaki Island in Okinawa, Japan. Based on archaeological broadband multibeam surveys, as well historical research artefacts Ryukyuan shipping, we discuss possible anchor vessel types Ryukyu Eastern Asia times. We also efficacy low-cost ROV for assisting surveys shallow-water environments value educational...

Abstract This paper describes the ongoing project on autonomous spilled oil and gas tracking buoy system application to marine disaster prevention for 5 years since FY2011. The objectives of this are as (1)autonomous monitoring plumes from subsea production facilities by an underwater robot, (2)autonomous sea surface transmission useful data a land station through satellites in real time multiple floating robots, (3)improvement accuracy simulations predicting diffusion drifting incorporating...

This paper describes improvement of a human-portable underwater robot for use in soil core sampling. We developed the sampling our previous work. However, efficiency translational motion that was low because high drag force attributable to its shape. In addition, an operator had control all motions manually using controller. To overcome such shortcomings this study, we first attitude system based on parallel link mechanism plays role reducing frontal area facing flow during vertical and...

In our previous studies, we have developed a multi-joint gripper (MJG) that has function of controlling the stiffness joints by using Differential Gear Mechanism (DGM) chain, which allows to grasp objects with no observing their physical information such as shape, weight, and softness. It also be used in severe environments because being need embedding any electric devices or sensors finger parts. this paper, propose waterproof design for installing it an underwater Remotely Operated Vehicle (ROV).

In recent years, significant attention has been paid to remotely operated underwater vehicles (ROVs) in the performance of tasks, such as inspection and maintenance infrastructure. The workload ROV operators tends be high, even for skilled operators. Therefore, assistance methods are desired. This study focuses on a task which human operator controls an robot follow certain path while visually inspecting objects vicinity path. task, it is desirable achieve speed trajectory control manually...

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