{"title":"一种水下航行器柔性增短臂机构","authors":"Yoshiki Iwamochi, T. Miyoshi, M. Takagi","doi":"10.1109/ICMA.2017.8015921","DOIUrl":null,"url":null,"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.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"225 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Flexible lengthening-shortening arm mechanism for an underwater vehicle\",\"authors\":\"Yoshiki Iwamochi, T. Miyoshi, M. Takagi\",\"doi\":\"10.1109/ICMA.2017.8015921\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":124642,\"journal\":{\"name\":\"2017 IEEE International Conference on Mechatronics and Automation (ICMA)\",\"volume\":\"225 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-08-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE International Conference on Mechatronics and Automation (ICMA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2017.8015921\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2017.8015921","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Flexible lengthening-shortening arm mechanism for an underwater vehicle
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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