Junku Yuh, Tamaki Ura, George A. Bekey
Springer, Jul 31, 1996 - Computers - 246 pages
Underwater Robots reports on the latest progress in underwater robotics.
In spite of its importance, the ocean is generally overlooked, since we focus more of our attention on land and atmospheric issues. We have not yet been able to explore the full depths of the ocean and its resources. The deep oceans range between 19000 to 36000 feet. At a mere 33-foot depth, the pressure is twice the normal atmospheric pressure of 29.4 psi. This obstacle, compounded with other complex issues due to the unstructured and hazardous environment, makes it difficult to travel in the ocean even though today's technologies allow humans to land on the moon.
Only recently, we discovered by using manned submersibles that a large amount of carbon dioxide comes from the sea-floor and that extraordinary groups of organisms live in hydrothermal vent areas. On March 24, 1995 Kaiko (a remotely operated vehicle) navigated the deepest region of the ocean, the Mariana Trough. This vehicle successfully dived to a depth of 33000 feet and instantly showed scenes from the trench through a video camera. New tools like this enable us to gain knowledge of mysterious places.
However, extensive use of manned submersibles and remotely operated vehicles is limited to a few applications because of very high operational costs, operator fatigue and safety issues. In spite of these hindrances, the demand for advanced underwater robot technologies is growing and will eventually arrive at fully autonomous, specialized, reliable underwater robotic vehicles.
Underwater Robots is an edited volume of peer-reviewed original research comprising thirteen invited contributions by leading researchers. This research work has also been published as a special issue of Autonomous Robots (Volume 3, Numbers 2 and 3).
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Preface J Yuh T Ura and G Bekey
A TerrainCovering Algorithm for an AUV Susan Hert Sanjay Tiwari and Vladimir Lumelsky
ThreeDimensional Stochastic Modeling Using Sonar Sensing for Undersea Robotics
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acceleration acoustic actuator added mass albedo algorithm approach arm/vehicle artificial bay autonomous underwater vehicles backscatter behavior cape point case-based reasoning commands configuration control system coordinate system D-inlet decoupling control degrees depth detected developed doorway dynamics elevation map end-effector entrance point environment equations error estimate Experimental results feedback control Figure fluid function global grid line heading angle hydraulic hydrodynamic IEEE implemented inertia inlet input interface island cape kinematic linear loop manipulator matrix mission motion planning moves navigation nonlinear PID Oceanic Engineering OTTER path planning path segments performance PID controller ping planar planner position Proc Prolog real-time reconstruction Robotics and Automation routes scattering model scattering parameters seafloor Section sensor shown in Fig shows side-scan sonar signal simulation sonar subsea surface task Technology thruster tion torque trajectory Twin-Burger underwater robotic vehicles vector vehicle control velocity voxel VxWorks