2005 · 11 citations · 1 references
EngineeringOcean EngineeringRobotics EngineeringAutomationMarine RoboticsRoboticsAutonomous Underwater Vehicle InstrumentationAutonomous Underwater VehiclesControl SystemsMarine Automation SystemsMarine Robot ControlUnderwater Vehicle DesignAutonomous Underwater Vehicle ControlAutonomous Underwater Vehicle SystemsCan BusExperimental Sea TrialsSea TrialsUnderwater Vehicle ControlVehicle Instrumentation DesignVessel Control Systems
JAMSTEC has been developing AUVs: the cruising AUV "Urashima" and the working AUV "MR-X1". The cruising AUV is able to collect sea data and samples automatically in long range cruising. The working AUV which would be equipped with manipulators is also needed as alternated for ROVs. The MR-X1 is designed for the scientific work, such as installing or recovering observation equipment, tracking and sampling benthic feeders, and supporting ROV's works. We had started of development of the MR-X1 in 2000. Its body (2.5 m long, 800 kg weight) had been assembled by 2002. The control hardware using CAN bus interface was installed in 2003. Presently, we are mainly investigating the control system software. In this paper, we describe the system configurations of the MR-X1, focused on its control system. In addition, we report some results of sea trials.
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Construction and operation of a snake-like robot
Rainer Worst, Ralf Linnemann · 2002 · 52 citations
Engineering, Mechanical Engineering, Robotics Engineering +17