Development of an underwater modular robot system for autonomous manipulation tasks

被引：0

作者：

Yu, SC ^{[1
]}

Kim, TW ^{[1
]}

Rosa, K ^{[1
]}

Yi, KY ^{[1
]}

Choi, SK ^{[1
]}

Ura, T ^{[1
]}

Yuh, J ^{[1
]}

机构：

[1] Univ Hawaii, Autonomous Syst Lab, Honolulu, HI 96822 USA

来源：

PROCEEDINGS OF THE FIFTEENTH (2005) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL 2 | 2005年

关键词：

manipulation; underwater AUV; modular; docking; automation;

D O I：

暂无

中图分类号：

P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper proposes automation method for underwater manipulation task. AUV with manipulator launches small agents for a target searching and communicating with a support ship. Each agent is connected to the AUV with the smart cable which gives relative position from the AUV to the agent. For communication and power transmission from the ship to the AUV, docking module is described. The device has non-contact optical communication and magnetic induction functions. Using the proposed module, tether between the AUV and the ship can be detachable during mission time on demand.

引用

页码：283 / 288

页数：6

共 13 条

[1]

Bales J.W., 1995, PROC UNMANED UNTHETH, V9, P406

[2] MARINE BIRD, a new experimental AUV with underwater docking and recharging system [J].

Fukasawa, T ;

Noguchi, T ;

Kawasaki, T .

OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, 2003, :2195-2200

[3] Development of a real-time control architecture for a semiautonomous underwater vehicle for intervention missions [J].

Kim, TW ;

Yuh, J .

CONTROL ENGINEERING PRACTICE, 2004, 12 (12) :1521-1530

[4]

LAMBIOTTE JC, 2002, P OC, P677

[5]

LEE DA, 1992, P SPIE BOST, V1795, P204

[6]

LEE DA, 1998, P SPIE BOST

[7] Visual servoing for underwater docking of an autonomous underwater vehicle with one camera [J].

Lee, PM ;

Jeon, BF ;

Kim, SM .

OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, 2003, :677-682

[8] Docking for an autonomous ocean sampling network [J].

Singh, H ;

Bellingham, JG ;

Hover, F ;

Lerner, S ;

Moran, BA ;

von der Heydt, K ;

Yoerger, D .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2001, 26 (04) :498-514

[9]

Sojdehei JJ, 2001, OCEANS 2001 MTS/IEEE: AN OCEAN ODYSSEY, VOLS 1-4, CONFERENCE PROCEEDINGS, P513, DOI 10.1109/OCEANS.2001.968775

[10] Enabling technologies for REMUS docking: An integral component of an autonomous ocean-sampling network [J].

Stokey, R ;

Allen, B ;

Austin, T ;

Goldsborough, R ;

Forrester, N ;

Purcell, M ;

von Alt, C .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2001, 26 (04) :487-497

← 1 2 →