Flexible lengthening-shortening arm mechanism for an underwater vehicle

Yoshiki Iwamochi, Tasuku Miyoshi, Motoki Takagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages816-820
Number of pages5
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - 2017 Aug 23
Externally publishedYes
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: 2017 Aug 62017 Aug 9

Publication series

Name2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period17/8/617/8/9

Fingerprint

underwater vehicles
robots
marine resources
Rocks
Robots
rocks
deep water
tracing
resources
controllers
Cameras
cameras
Controllers
Water

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

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 proceedingConference 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). https://doi.org/10.1109/ICMA.2017.8015921
Iwamochi, Yoshiki ; Miyoshi, Tasuku ; Takagi, Motoki. / Flexible lengthening-shortening arm mechanism for an underwater vehicle. 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 816-820 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).
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