Flexible lengthening-shortening arm mechanism for an underwater vehicle

Yoshiki Iwamochi; Tasuku Miyoshi; Motoki Takagi

doi:10.1109/ICMA.2017.8015921

Flexible lengthening-shortening arm mechanism for an underwater vehicle

Yoshiki Iwamochi, Tasuku Miyoshi, Motoki Takagi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

The goal of this study was to monitor and record the condition of an obstructed seabed by underwater robots instead of a diver's observations in a shallow area. It is difficult to investigate marine resources that live in deep water shaded by rock due to large and/or small rocks on the seabed. Therefore, a flexible lengthening-shortening arm with a camera unit for an underwater robot would be a suitable investigation resource. In this paper, we demonstrate the newly developed flexible lengthening-shortening arm mechanism (FLSAM) and experimental results of a path-tracing controller.

Original language	English
Title of host publication	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	816-820
Number of pages	5
ISBN (Electronic)	9781509067572
DOIs	https://doi.org/10.1109/ICMA.2017.8015921
Publication status	Published - 2017 Aug 23
Externally published	Yes
Event	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan Duration: 2017 Aug 6 → 2017 Aug 9

Publication series

Name	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Other

Other	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Country/Territory	Japan
City	Takamatsu
Period	17/8/6 → 17/8/9

Keywords

Obstacle Avoidance
Path-Tracing
Sliding Screw Mechanism
Small Camera
Underwater Robot Arm

ASJC Scopus subject areas

Control and Optimization
Instrumentation
Artificial Intelligence
Industrial and Manufacturing Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2017.8015921

Cite this

Iwamochi, Y., Miyoshi, T., & Takagi, M. (2017). Flexible lengthening-shortening arm mechanism for an underwater vehicle. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 816-820). [8015921] (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015921

Flexible lengthening-shortening arm mechanism for an underwater vehicle. / Iwamochi, Yoshiki; Miyoshi, Tasuku; Takagi, Motoki.

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 816-820 8015921 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Iwamochi, Y, Miyoshi, T & Takagi, M 2017, Flexible lengthening-shortening arm mechanism for an underwater vehicle. in 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8015921, 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, Institute of Electrical and Electronics Engineers Inc., pp. 816-820, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, Japan, 17/8/6. https://doi.org/10.1109/ICMA.2017.8015921

Iwamochi Y, Miyoshi T, Takagi M. Flexible lengthening-shortening arm mechanism for an underwater vehicle. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 816-820. 8015921. (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). doi: 10.1109/ICMA.2017.8015921

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abstract = "The goal of this study was to monitor and record the condition of an obstructed seabed by underwater robots instead of a diver's observations in a shallow area. It is difficult to investigate marine resources that live in deep water shaded by rock due to large and/or small rocks on the seabed. Therefore, a flexible lengthening-shortening arm with a camera unit for an underwater robot would be a suitable investigation resource. In this paper, we demonstrate the newly developed flexible lengthening-shortening arm mechanism (FLSAM) and experimental results of a path-tracing controller.",

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Flexible lengthening-shortening arm mechanism for an underwater vehicle

Abstract

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Keywords

ASJC Scopus subject areas

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