Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device

Nishida, Yuya; Sonoda, Takashi; Yasukawa, Shinsuke; Ahn, Jonghyun; Watanabe, Keisuke; Ishii, Kazuo; Ura, Tamaki

doi:10.1109/ut.2019.8734330

Cited by 10 publications

(5 citation statements)

References 9 publications

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“…Optical cameras are more affordable than acoustic sensors like sonars and can provide detailed information in the highly transparent sea. They are used for AUVs required to operate with high precision near the seafloor or structures, including intervention or docking to charging stations (Lin et al, 2022; Maki, Sato, et al, 2018; Nishida et al, 2019).…”

Section: Related Workmentioning

confidence: 99%

Guidance method of underwater vehicle for rugged seafloor observation in close proximity

Noguchi,

Sekimori,

Maki

2023

Journal of Field Robotics

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Obtaining detailed information about the ocean through seafloor optical imaging is crucial, yet poses significant challenges due to the high attenuation of light, which necessitates the camera to be positioned within several meters of the seafloor. This paper proposes a method for an autonomous underwater vehicle (AUV) to track the seafloor at a close range suitable for optical survey. Through the probabilistic processing of measurements from a mechanical scanning imaging sonar, the AUV can safely follow the seafloor, even in the presence of large obstacles or overhanging geometries. The method was implemented on the low‐cost AUV, HATTORI, and its effectiveness was confirmed by sea experiments around Nishinoshima island, an uninhabited volcanic island located about 1000 km south of Tokyo, Japan. Detailed images of the rugged seafloor were successfully captured under the challenging condition of strong currents.

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Section: Related Workmentioning

confidence: 99%

Guidance method of underwater vehicle for rugged seafloor observation in close proximity

Noguchi,

Sekimori,

Maki

2023

Journal of Field Robotics

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“…43 Seashells could be detected at a depth of 100 m using image processing methods and be collected by the vacuum system of a fixed arm mounted on the vehicle. 28 One of the educational experiment designs in this study is deal with RA applications. 44 Detecting an object from the camera on UV þ RA and capturing the process of the target object are carried out by means of image processing and axial control algorithms.…”

Section: Uv and Manipulator Systems For Object Capturing Operationsmentioning

confidence: 99%

“…26 Some manipulators are controlled manually, 27 and in others, the object is captured with a fixed arm 24 or by hovering and vacuuming the object. 28 In this study, image processing and axial control algorithms are prepared on Raspberry Pi for detecting an object from the camera and capturing it with a manipulator. The mobility of the manipulator increases the DOF of Lucky Fin by two degrees and provides more flexible approach conditions to the object.…”

Section: Introductionmentioning

confidence: 99%

Development stages of a semi-autonomous underwater vehicle experiment platform

Yılmaz

2022

International Journal of Advanced Robotic Systems

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The design of underwater unmanned vehicles is an interdisciplinary study that includes several fields, such as computational fluid dynamics, modeling and control of systems, robotics, image processing, and electronic card design. The operational cost of such vehicles is high because it is dependent on variable fluid properties like salinity and high pressure while its’ mobility must be resistant to environmental conditions such as undersea. The study describes an operating platform, called Lucky Fin, on which the students can develop various control algorithms and can test and extract hydrodynamic parameters of the underwater vehicle. The platform consists of an underwater vehicle and two testing tanks. The control card, the user control program interface, and a manipulator’s arm are designed to be used for a series of control applications such as depth, heading, target tracking, and capturing. The results of several tests are illustrated in this article.

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“…More Sophisticated By modifying the AUV Tuna-Sand, the IIS has developed the Tuna-Sand 2 [19] (TS2, Fig. 15), which can sample objects on the seafloor by using a hand attached to the bottom of the vehicle.…”

Section: Improving the Hovering Auv To Somethingmentioning

confidence: 99%

Development Timeline of the Autonomous Underwater Vehicle in Japan

Ura¹

2020

JRM

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In 2020, the autonomous underwater vehicle (AUV) has already become a vital part of deep-sea research. There is a long history of R&D of AUVs that dive into the deep sea, where radio waves cannot reach, thus making remote control difficult so that no help can be provided, which implies that careful and adequate preparation is necessary. Their successful development has been based on the accumulation of experience and achievements contributing to the remarkable results that no other system can produce. The aggressive R&D of Japanese AUVs started approximately 40 years ago. This paper looks back at this history and introduces various Japanese AUVs.

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Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device

Cited by 10 publications

References 9 publications

Guidance method of underwater vehicle for rugged seafloor observation in close proximity

Guidance method of underwater vehicle for rugged seafloor observation in close proximity

Development stages of a semi-autonomous underwater vehicle experiment platform

Development Timeline of the Autonomous Underwater Vehicle in Japan

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