Yoshiki Tanaka, Toshimune Matsumura, Yuichiro Uemura, Kentaro Yanagise, Yuya Nishida, Kazuo Ishii
Graduate School of Life Science Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan
pp. 6–16
ABSTRACT
Recently, Autonomous Underwater Vehicles: AUVs are utilized as the tools for ocean survey and practical applications such as ocean mineral resources survey and marine biological investigations. We have developed an AUV “Tuna-Sand2” and have succeeded in automatic sampling of shells in sea trials at Suruga Bay in Japan. Tuna-Sand2 is designed for 2000m depth and 8 hours operation with the speed of 1 knot and has several computers for basic motion control with sensor handling, intelligent behaviors based on image processing and data transmission, however, the robot needs efforts in deployment and recovery because of weight and sizes, and must return to the surface in emergency conditions. That is, the system should be stable, reliable and conservative, and not suitable for testing new challenging algorithms and behaviors. We have developed a new AUV KYUBIC which can be operated by a few people as a small testbed of Tuna-Sand2 and have similar shape and thruster arrangement. In this paper, we describe the system architecture of KYUBIC and the experimental results in Underwater Robotics Competition in Okinawa 2020.

ARTICLE INFO
Article History
Received 21 November 2022
Accepted 31 July 2023

Keywords
Synchronous control
Dual-arm cooperative manipulator
Force control
Relative error

JRNAL10102

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