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Underwater hidrojet explorer camera controlled by vision

  • Chapter 12 Sensor-Based Control
  • Conference paper
  • First Online:
Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

Access to restricted spaces underwater requires a small unencumbered camera. A low cost solution has been envisaged. It consists of an hermetic capsule enclosing the camera and lights, joined to the host by an umbilical. Along the umbilical go six water carrying ducts. Three of them end at backwards pointing nozzles located at the capsule body. The jets of water flowing from the nozzles are controlled and their forces allow some restricted positioning of the camera. Another three ducts end at nozzles located some distance up the umbilical, and allow a greater manoeuvrability.

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Author information

Authors and Affiliations

  1. Institut de Robòtica Industrial (UPC-CSIC), Barcelona, Catalonia

    Josep Amat

  2. Dept. Automatic Control and Computer Engineering (UPC), Barcelona, Catalonia

    Joan Aranda & Ricard Villà

Authors
  1. Josep Amat
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  2. Joan Aranda
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  3. Ricard Villà
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Amat, J., Aranda, J., Villà, R. (1998). Underwater hidrojet explorer camera controlled by vision. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112992

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  • DOI: https://doi.org/10.1007/BFb0112992

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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