Development of a Small Size Underwater Robot for Observing Fisheries Resources – Underwater Robot for Assisting Abalone Fishing –

Takagi, Motoki; Mori, Hayato; Yimit, Adiljan; Hagihara, Yoshihiro; Miyoshi, Tasuku

doi:10.20965/jrm.2016.p0397

Cited by 18 publications

(5 citation statements)

References 6 publications

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“…where F j (j=1,2,…,6) [N] is the generated force, F j max (j=1,2,…,6) N is the maximum force for each thruster (8.5N), 15 P n (n=Φ,θ,ψ,h) is the deviation between the target value and the sensor value at the start time while the heave motion is controlled; also, P n (n=Φ,θ,ψ,h) denotes the maximum allowable angle in each direction (Φ,θ,ψ) while the attitude is controlled, and U n (n=Φ,θ,ψ,h) is the gain matrix of the PID controller for each direction. The PID gain matrix used for this controller was determined by trial and error based on the limit of sensitivity detection method.…”

Section: Spatial Control System and Its Validationmentioning

confidence: 99%

A novel seabed surveying autonomous underwater vehicle with spatial control system for managing fishery resources by a video-transect method

Miyoshi

Asaishi

Satoh

2018

JAMB

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Section: Spatial Control System and Its Validationmentioning

confidence: 99%

A novel seabed surveying autonomous underwater vehicle with spatial control system for managing fishery resources by a video-transect method

Miyoshi

Asaishi

Satoh

2018

JAMB

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“…However, prolonged underwater operations pose significant risks to personnel due to factors such as high pressure and low-temperature [ 3 ]. Therefore, highly intelligent autonomous underwater robots offer convenience for underwater mobile monitoring and harvesting [ 4 , 5 ]. The traditional autonomous underwater robots are commonly driven by propellers during underwater operations.…”

Section: Introductionmentioning

confidence: 99%

Design and Realization of a Novel Robotic Manta Ray for Sea Cucumber Recognition, Location, and Approach

Liu

Liu²,

Yang

et al. 2023

Biomimetics

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Sea cucumber manual monitoring and fishing present various issues, including high expense and high risk. Meanwhile, compared to underwater bionic robots, employing autonomous underwater robots for sea cucumber monitoring and capture also has drawbacks, including low propulsion efficiency and significant noise. Therefore, this paper is concerned with the design of a robotic manta ray for sea cucumber recognition, localization, and approach. First, the developed robotic manta ray prototype and the system framework applied to real-time target search are elaborated. Second, by improved YOLOv5 object detection and binocular stereo-matching algorithms, precise recognition and localization of sea cucumbers are achieved. Thirdly, the motion controller is proposed for autonomous 3D monitoring tasks such as depth control, direction control, and target approach motion. Finally, the capabilities of the robot are validated through a series of measurements. Experimental results demonstrate that the improved YOLOv5 object detection algorithm achieves detection accuracies (mAP@0.5) of 88.4% and 94.5% on the URPC public dataset and self-collected dataset, respectively, effectively recognizing and localizing sea cucumbers. Control experiments were conducted, validating the effectiveness of the robotic manta ray’s motion toward sea cucumbers. These results highlight the robot’s capabilities in visual perception, target localization, and approach and lay the foundation to explore a novel solution for intelligent monitoring and harvesting in the aquaculture industry.

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“…This article takes into account the sustainability of sea cucumber fisheries. Takagi et al 11 designed an underwater robot to determine the size of sea cucumbers with a stereo camera, with the purpose of assisting fishermen to observe sea cucumbers and clearly judge whether the size of the target sea cucumbers conforms to Japanese laws and regulations. The sea cucumber fishing robot proposed in this article can be observed and operated.…”

Section: Introductionmentioning

confidence: 99%

Design and control of underwater robot system for sea cucumber fishing

Shi

Zhu

2022

International Journal of Advanced Robotic Systems

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Sea cucumber fishing is an important application of underwater robots. In order to realize the function of sea cucumber fishing, an underwater robot system for sea cucumber fishing is designed, which can reduce operation requirements and costs while realizing sea cucumber fishing. The overall system plan includes the design of subsystems such as power supply system, fishing system, transmission system, propulsion system, balance and positioning system, and anti-collision airbag. According to the actual needs of sea cucumber fishing, the mechanical structure and size of each subsystem are designed, and SolidWorks is used to complete the three-dimensional modeling of the overall system. The sliding mode control and adaptive sliding mode control algorithms are used to compare the positioning control effects of the underwater vehicle to verify the effectiveness of the system design.

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Development of a Small Size Underwater Robot for Observing Fisheries Resources – Underwater Robot for Assisting Abalone Fishing –

Cited by 18 publications

References 6 publications

A novel seabed surveying autonomous underwater vehicle with spatial control system for managing fishery resources by a video-transect method

A novel seabed surveying autonomous underwater vehicle with spatial control system for managing fishery resources by a video-transect method

Design and Realization of a Novel Robotic Manta Ray for Sea Cucumber Recognition, Location, and Approach

Design and control of underwater robot system for sea cucumber fishing

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