This paper describes the development of an underwater robot that performs visual inspection while making mechanical contact with a dam surface by a pulling force generated from thrusters with negative pressure effect plates. In general, small and lightweight remotely operated vehicles (ROVs) have low‐power thrusters. Their positioning performance is inferior with respect to external disturbances. Moreover, it is difficult for untrained operators to control the ROV position to check and inspect dams visually. A negative pressure effect plate attached to a thruster produces negative pressure that maintains mechanical contact between the robot and a dam wall surface and ensures stable robot motion on a dam surface to acquire clear continuous images. As described herein, we theoretically investigate the negative pressure effect plate characteristics and experimentally measure the force generated by the pressure difference. Results show that the force of a thruster with the effect plate is five times greater than the nominal thrust force provided by the thruster alone. Based on those results, we designed and developed the underwater robot with the negative pressure effect plates for dam inspection. Moreover, we conducted an experiment in a water tank and a field test at Shorenji Dam, Mie‐prefecture, Japan. The experimentally obtained results indicated that the negative pressure effective plate is effective at generating sufficient force and at realizing stable robot motion on the dam surface. Results demonstrate that the developed robot acquired clear images of the dam surface continuously with no sophisticated operator or controller.
Fromthe amount of alkaline solution supplied for neutralizing the broth, lactate concentration was estimated on line in the fermentation of Streptococcus cremoris. Cell concentration in the broth was also monitored on line using a turbidimeter. The monitoring system was applied to the culture accompanied by filtration, and both cell and lactate concentrations were controlled at constant levels by on-off control. In this culture, cells and lactate were continuously produced at constant rates, and the concentrations in the fermenter were kept constant.
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