Multi-legged ROV Crabster and an acoustic camera for survey of underwater cultural heritages

Park, Jin-Yeong; Shim, Hyun Woo; Baek, Hyuk; Yoo, Seong-Yeon; Jun, Bong-Huan; Lee, Pan-Mook

doi:10.23919/oceans.2015.7401986

Cited by 8 publications

(6 citation statements)

References 2 publications

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“…Control posture is a technology that provides the required posture and position for the sensors, and was covered in detail in previous research, so in this paper, we lightly introduce the topic. There were previous studies on the “posture and walking control method of CR200 for precise underwater exploration using acoustic instrument” [ 28 ], “CR200 and an acoustic camera for survey of underwater cultural heritage” [ 29 ], and “Head alignment of a single-beam scanning sonar installed on a CR200” [ 30 ], and we demonstrated the capability of this technology through studies. Figure 10 shows the concept image of how the CR200 applies a tilt angle to the sector-scanning sonar.…”

Section: A New Concept Of Sensor Operation Strategymentioning

confidence: 70%

“…exploration using acoustic instrument" [28], "CR200 and an acoustic camera for survey of underwater cultural heritage" [29], and "Head alignment of a single-beam scanning sonar installed on a CR200" [30], and we demonstrated the capability of this technology through studies. Figure 10 shows the concept image of how the CR200 applies a tilt angle to the sector-scanning sonar.…”

Section: Controlling Of the Hhm Inclination Anglementioning

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: A New Concept Of Sensor Operation Strategymentioning

confidence: 70%

Section: Controlling Of the Hhm Inclination Anglementioning

confidence: 99%

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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“…Regarding the use of sonar systems on ULRs, the authors proposed to regulate the orientation of the robot body during image acquisition to reduce artefacts, especially in shallow areas. Finally, field experiments on survey of underwater cultural heritages and manipulation of artefacts replicas have been reported [124,143]. More recently, a teleoperated hexapod robot SIL-VER2 (figure 1) was developed at Scuola Superiore Sant'Anna [24], after some years of theoretical and experimental research on underwater limbed locomotion and dynamic stability [68,69,71,144,145].…”

Section: Ulrs Tested In the Fieldmentioning

confidence: 99%

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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“…Ref [9] conducted an initial performance experiments for underwater cultural heritage survey using ROV driven by six artificial feet with high-resolution acoustic cameras at sea . This ROV used six foot driven by a BLDC motor as its driving force.…”

Section: Figure 1 Proposed Systemmentioning

confidence: 99%

“…Therefore, the ROV moved on the seafloor uninterrupted by propellers that are widely used as ROV drives in general. In addition, the robot was expected to minimize the shadow area of the acoustic imaging sensor by controlling its posture correctly using the foot [9]. The system used the legs as a ROV driver.…”

Section: Figure 1 Proposed Systemmentioning

confidence: 99%

Design of Aquatic Quadcopter with Hold Position Control and Gimbal Controller for capturing Underwater Video

Mardiyanto¹,

Trisuta²

2018

IJCA

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The paper presents design of an aquatic quadcopter which have four driving forces enabling it to move upward, downward, forward, and backward for capturing underwater video. The system will be used for taking underwater video that usually can be performed by the diver. The current issue in aquatic quadcopter researchs is how the system can automatically maintain its roll, pitch, and depth position for producing smooth video. The existing systems still adopted the manual-mode control that only can operated by the expert operator. The proposal designs and realizes an aquatic quadcopter system having features such as hold position control and camera stabilization for capturing smooth underwater video. The system utilizes IMU sensor MPU 6050 and pressure sensor MS 5803 for measuring the position of the system (roll, pitch, yaw, and depth). The PID controller is used for maintaining the level as well as the depth of aquatic quadcopter. The Arduino Mega is used as main controller as well as sender of telemetry data to ground station. The experiment result shows that the system able to maintain the position automatically the average error of pitch is 1.53%, average error of roll is 1.37%, and average error of depth is 1 Cm. The realized system can be used for capturing the underwater video.

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Multi-legged ROV Crabster and an acoustic camera for survey of underwater cultural heritages

Cited by 8 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

Design of Aquatic Quadcopter with Hold Position Control and Gimbal Controller for capturing Underwater Video

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