Overview
- Editors:
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Junku Yuh
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University of Hawaii, USA
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Tamaki Ura
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University of Tokyo, Japan
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George A. Bekey
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University of Southern California, USA
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Table of contents (13 chapters)
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- Susan Hert, Sanjay Tiwari, Vladimir Lumelsky
Pages 17-45
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- Andrew E. Johnson, Martial Hebert
Pages 71-94
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- D. B. Marco, A. J. Healey, R. B. McGhee
Pages 95-112
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- M. Perrier, C. Canudas-De-Wit
Pages 121-138
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- Timothy W. McLain, Stephen M. Rock, Michael J. Lee
Pages 139-158
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- D. M. Lane, M. W. Dunnigan, A. W. Quinn, A. C. Clegg
Pages 159-177
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- Scott McMillan, David E. Orin, Robert B. McGhee
Pages 179-194
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- T. J. Tarn, G. A. Shoults, S. P. Yang
Pages 195-209
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- Howard H. Wang, Stephen M. Rock, Michael J. Lee
Pages 223-246
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Back Matter
Pages 247-252
About this book
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.
Reviews
`This is a valuable reference book for anyone interested in, or researching into, Underwater Robotics. The papers are well written and do not use excessive amounts of technical jargon, thus being accessible to the reader with a firm understanding of control engineering and mathematics.'
Sensor Review, 19:3 (1999)
Editors and Affiliations
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University of Hawaii, USA
Junku Yuh
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University of Tokyo, Japan
Tamaki Ura
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University of Southern California, USA
George A. Bekey
