Mechatronical design of underwater sensor/actuator robots for cooperative task execution

Appelqvist, Pekka; Vainio, Mika; Halme, Aarne

doi:10.1016/b978-008043339-4/50040-7

Cited by 2 publications

(2 citation statements)

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“…The figures represent the latest generation of SUBMARs. 11,12 The sensors implemented depend on the application at hand. Typically, sensors for temperature, pressure, pH, and conductivity are useful in many applications.…”

Section: Society Membermentioning

confidence: 99%

“…All this information is stored into matrix L indicating how the robot can move from one node to another. The actual navigation is based on combined use of struct ROUTE, matrix L and array N. As an example, consider the case where the robot has to get from it's current node (6) to a goal node (12), see Figure 11. It fetches the route trail (6⇒12) from the struct ROUTE.…”

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Mobile robot society for distributed operations in closed aquatic environment

Vainio¹,

Appelqvist²,

Halme³

2000

Robotica

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In this paper a multirobot system consisting of small size ball-shaped mobile underwater robots is introduced. Robots form a cooperative society operating together for a common goal. This is made possible by inter-member communication and control architecture allowing cooperation. The test environment is a closed aquatic process containing tanks, pipes, and a jet pump. The task considered is cleaning of biologically contaminated spots in the process. Detailed hardware structure of a robot-member as well as the control architecture are introduced. Behaviour of the cooperative system is demonstrated in a test environment where contamination caused by biological algae growth is emulated by infrared panels behaving like a living biomass.

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Section: Society Membermentioning

confidence: 99%

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confidence: 99%