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Springer Handbook of Robotics pp 595–622Cite as

Underwater Robots

  • Chapter

Part of the book series: Springer Handbooks ((SHB))

Abstract

Covering about two-thirds of the earth, the ocean is an enormous system that dominates processes on the Earth and has abundant living and nonliving resources, such as fish and subsea gas and oil. Therefore, it has a great effect on our lives on land, and the importance of the ocean for the future existence of all human beings cannot be overemphasized. However, we have not been able to explore the full depths of the ocean and do not fully understand the complex processes of the ocean. Having said that, underwater robots including remotely operated vehicles (GlossaryTerm

ROV

s) and autonomous underwater vehicles (GlossaryTerm

AUV

s) have received much attention since they can be an effective tool to explore the ocean and efficiently utilize the ocean resources. This chapter focuses on design issues of underwater robots including major subsystems such as mechanical systems, power sources, actuators and sensors, computers and communications, software architecture, and manipulators while Chap. 51 covers modeling and control of underwater robots.

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Abbreviations

2-D:

two-dimensional

3-D:

three-dimensional

ABS:

acrylonitrile–butadiene–styrene

AC:

alternating current

ADC:

analog digital conveter

ADCP:

acoustic Doppler current profiler

AFC:

alkaline fuel cell

AHRS:

attitude and heading reference system

AIP:

air-independent power

ARM:

Acorn RISC machine architecture

ASK:

amplitude shift keying

ASL:

autonomous systems laboratory

AUVAC:

Autonomous Undersea Vehicles Application Center

AUV:

autonomous underwater vehicle

AUVSI:

Association for Unmanned Vehicle Systems International

BMS:

battery management system

CAN:

controller area network

CFRP:

carbon fiber reinforced plastic

CORBA:

common object request broker architecture

CPU:

central processing unit

DAC:

digital analog converter

DC:

direct current

DMFC:

direct methanol fuel cell

DOF:

degree of freedom

DPSK:

differential phase shift keying

DSP:

digital signal processor

DVL:

Doppler velocity log

DWDM:

dense wave division multiplex

EPS:

expandable polystyrene

ERSP:

evolution robotics software platform

FEM:

finite element method

FFI:

Norwegian defense research establishment

FOG:

fiber-optic gyro

FPGA:

field-programmable gate array

FSK:

frequency shift keying

GFRP:

glass-fiber reinforced plastic

GIB:

GPS intelligent buoys

GMSK:

Gaussian minimum shift keying

GPS:

global positioning system

HD-SDI:

high-definition serial digital interface

HD:

high definition

HFAC:

high frequency alternating current

ICE:

internet communications engine

ID:

inside diameter

IFOG:

interferometric fiber-optic gyro

IMU:

inertial measurement unit

INS:

inertia navigation system

inertial navigation system

IO:

input output

IPC:

interprocess communication

ISA:

industrial standard architecture

ISE:

international submarine engineering

IvP:

interval programming

JAMSTEC:

Japan Agency for Marine-Earth Science and Technology

KRISO:

Korea Research Institute of Ships and Ocean Engineering

LBL:

long-baseline system

LCAUV:

long-range cruising AUV

LCM:

light-weight communications and marshalling

MASE:

Marine Autonomous Systems Engineering

MBARI:

Monterey Bay Aquarium Research Institute

MCFC:

molten carbonate fuel cell

MEMS:

microelectromechanical system

MFSK:

multiple FSK

MIRO:

middleware for robot

MIT:

Massachusetts Institute of Technology

MMC:

metal matrix composite

MOOS:

mission oriented operating suite

MPSK:

Mary phase shift keying

MQAM:

Mary quadrature amplitude modulation

MRDS:

Microsoft robotics developers studio

MSK:

minimum shift keying

NUWC:

Naval Undersea Warfare Center Division Newport

ODE:

open dynamics engine

OD:

outer diameter

ONR:

US Office of Naval Research

OPRoS:

open platform for robotic service

ORCA:

open robot control architecture

OROCOS:

open robot control software

PAFC:

phosphoric acid fuel cell

PCIe:

peripheral component interconnect express

PCI:

peripheral component interconnect

PC:

polycarbonate

PEFC:

polymer electrolyte fuel cell

PEMFC:

proton exchange membrane fuel cell

POM:

polyoxymethylene

PSK:

phase shift keying

PVC:

polyvinyl chloride

QAM:

quadrature amplitude modulation

QPSK:

quadrature phase shift keying

RISC:

reduced instruction set computer

RLG:

ring laser gyroscope

ROS:

robot operating system

ROV:

remotely operated vehicle

RT:

real-time

robot technology

SAS:

synthetic aperture sonar

SBL:

short baseline

SOFC:

solid oxide fuel cell

SOMA:

stream-oriented messaging architecture

T-REX:

teleo-reactive executive

TMS:

tether management system

TOA:

time of arrival

UDP:

user datagram protocol

UHD:

ultrahigh definition

UPnP:

universal plug and play

USBL:

ultrashort baseline

UUV:

unmanned underwater vehicle

VME:

Versa Module Europa

WHOI:

Woods Hole Oceanographic Institution

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Authors and Affiliations

  1. Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering (KRISO), 32 Yuseong-daero 1312 Beon-gil, Yuseong-gu, 305-343, Daejeon, Korea

    Hyun-Taek Choi

  2. National Agenda Research Division, Korea Institute of Science and Technology, Hwarangno 14-gil 5, Seongbuk-gu, 136-791, Seoul, Korea

    Junku Yuh

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Correspondence to Hyun-Taek Choi .

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Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Six-legged waking underwater robot, Crabster available from http://handbookofrobotics.org/view-chapter/25/videodetails/793

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Preliminary results of sonar-based SLAM using landmarks available from http://handbookofrobotics.org/view-chapter/25/videodetails/794

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First record of deep-sea diving of Hamire, depth was 5882m available from http://handbookofrobotics.org/view-chapter/25/videodetails/796

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Preliminary experimental result of an ROV, iTurtle available from http://handbookofrobotics.org/view-chapter/25/videodetails/797

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Preliminary experimental result of an AUV, yShark2 available from http://handbookofrobotics.org/view-chapter/25/videodetails/799

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© 2016 Springer-Verlag Berlin Heidelberg

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Choi, HT., Yuh, J. (2016). Underwater Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_25

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_25

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

  • eBook Packages: EngineeringEngineering (R0)

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