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Underwater Robots

  • Junku Yuh
  • Tamaki Ura
  • George A. Bekey

Table of contents

  1. Front Matter
    Pages i-4
  2. Susan Hert, Sanjay Tiwari, Vladimir Lumelsky
    Pages 17-45
  3. Andrew E. Johnson, Martial Hebert
    Pages 71-94
  4. D. B. Marco, A. J. Healey, R. B. McGhee
    Pages 95-112
  5. Timothy W. McLain, Stephen M. Rock, Michael J. Lee
    Pages 139-158
  6. D. M. Lane, M. W. Dunnigan, A. W. Quinn, A. C. Clegg
    Pages 159-177
  7. Scott McMillan, David E. Orin, Robert B. McGhee
    Pages 179-194
  8. Howard H. Wang, Stephen M. Rock, Michael J. Lee
    Pages 223-246
  9. Back Matter
    Pages 247-252

About this book

Introduction

All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Keywords

Motion Planning Navigation Simulation algorithms autonom autonomous robot design development learning modeling robot robotics sensing

Editors and affiliations

  • Junku Yuh
    • 1
  • Tamaki Ura
    • 2
  • George A. Bekey
    • 3
  1. 1.University of HawaiiUSA
  2. 2.University of TokyoJapan
  3. 3.University of Southern CaliforniaUSA

Bibliographic information

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