Application of scanning sonar using multi - legged underwater robot's degree of freedom

Baek, Hyuk; Yoo, Songyeol; Jun, Bong-Huan

doi:10.23919/oceans.2015.7404609

Cited by 3 publications

(7 citation statements)

References 2 publications

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Section: Controlling Of the Hhm Inclination Anglementioning

confidence: 99%

“…The position vector of the end of the leg relative to the center of the body ( ) can be obtained by the following equation [28]: Figure 10. Tilt angle adjustment to the sector-scanning sonar concept for the CR200 [25].…”

Section: Kinematic Model Of the Cr200mentioning

confidence: 99%

“…According to reference [25], the pitch angle, α, can be calculated by Equation 1, where D is a constant obtained by subtracting the altitude of CR200 from the water depth; this value can also be taken from the conductivity-temperature-depth (CTD) sensor. As shown in Figure 11, the vertical beam angle of the sensor is 30 • , and as described in Section 2.2, the length is 25 m, which is useful to minimize noise as a result of multipath when the sonar range is 50 m. According to the equation, the α value can be calculated to avoid noise caused by multipath, which, depending on the change of the water depth and the resulting tilting angle, can be given to sonar and used as an input to the HHM inclination angle.…”

Section: Controlling Of the Hhm Inclination Anglementioning

confidence: 99%

“…The coordinate system of the CR200 and installation of the scanning sonar[32].Sensors 2020, 19, x FOR PEER REVIEW 11 of 22…”

mentioning

confidence: 99%

“…Application of the sonar mosaic image using the differential global positioning system (DGPS) information[32].…”

mentioning

confidence: 99%

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The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

Baek¹,

Jun²,

Noh

2020

Sensors

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In this paper, we discuss underwater walking robot technology to improve the quality of raw data in sector-scanning sonar images. We propose a strategy for an efficient and precise sector-scanning sonar image acquisition method for use in shallow, strong tidal water with a curved and sloped seabed environment. We verified the strategy by analyzing images acquired through a sea trial using the sector-scanning sonar installed on the CRABSTER (CR200). Before creating this strategy, an experiment was conducted to acquire the seabed image near a pier using a tripod and vertical pole. To overcome the problems and limitations revealed through image analysis, we established two technical strategies. In conclusion, we were able to achieve those technical strategies by using the CR200, which is resistant to strong current, and its six legs provide freedom of movement, allowing for a good sonar attitude.

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Section: Controlling Of the Hhm Inclination Anglementioning

confidence: 99%

Section: Kinematic Model Of the Cr200mentioning

confidence: 99%

Section: Controlling Of the Hhm Inclination Anglementioning

confidence: 99%

“…The coordinate system of the CR200 and installation of the scanning sonar[32].Sensors 2020, 19, x FOR PEER REVIEW 11 of 22…”

mentioning

confidence: 99%

“…Application of the sonar mosaic image using the differential global positioning system (DGPS) information[32].…”

mentioning

confidence: 99%

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The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

Baek¹,

Jun²,

Noh

2020

Sensors

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Underwater legged robotics: review and perspectives

et al. 2023

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Nowadays, there is a growing awareness on the social and economic importance of the ocean. In this context, being able to carry out a diverse range of operations underwater is of paramount importance for many industrial sectors as well as for marine science and to enforce restoration and mitigation actions. Underwater robots allowed us to venture deeper and for longer time into the remote and hostile marine environment. However, traditional design concepts such as propeller driven Remotely Operated Vehicles (ROVs), Autonomous Underwater Vehicles (AUVs), or tracked benthic crawlers, present intrinsic limitations, especially when a close interaction with the environment is required. An increasing number of researchers are proposing legged robots as a bioinspired alternative to traditional designs, capable of yielding versatile multi-terrain locomotion, high stability, and low environmental disturbance. In this work, we aim at presenting the new field of underwater legged robotics in an organic way, discussing the prototypes in the state-of-the-art and highlighting technological and scientific challenges for the future. First, we will briefly recap the latest developments in traditional underwater robotics from which several technological solutions can be adapted, and on which the benchmarking of this new field should be set. Second, we will the retrace the evolution of terrestrial legged robotics, pinpointing the main achievements of the field. Third, we will report a complete state of the art on Underwater Legged Robots (ULRs) focusing on the innovations with respect to the interaction with the environment, sensing and actuation, modelling and control, and autonomy and navigation. Finally, we will thoroughly discuss the reviewed literature by comparing traditional and legged underwater robots, highlighting interesting research opportunities, and presenting use case scenarios derived from marine science applications.

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Preliminary water tank test of a multi-legged underwater robot for seabed explorations

Yoo¹,

Jun²,

Shim³

et al. 2015

OCEANS 2015 - MTS/IEEE Washington

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Application of scanning sonar using multi - legged underwater robot's degree of freedom

Cited by 3 publications

References 2 publications

The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

Underwater legged robotics: review and perspectives

Preliminary water tank test of a multi-legged underwater robot for seabed explorations

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