Jonghyun Ahn1, Hiroyuki Yokota2, Shinsuke Yasukawa2
1Dept. of Intelligent Mechanical Engineering, Hiroshima Institute of Technology,
2-1-1 Miyake, Saeki, Hiroshima,731-5193, Japan
2Dept. of Human Intelligence Systems, Kyushu Institute of Technology, 2-4
Hibikino, Wakamatsu, Kitakyushu, Fukuoka, 808-0196, Japan
pp. 66–72
ABSTRACT
In recent years, increase in the number of jellyfish causes damage in the
fishery and tourism industries. Currently, most of the jellyfish removal
work is carried out by workers. However, this conventional removal work
is required a lot of time and manpower. In this paper, we proposed a method
for removal work of jellyfish using an underwater robot. Also, we introduced
developed ROV type underwater robot, which is called JENOS (Jellyfish Extermination
Nifty-robot for Ocean Sustentation), and its removal motion performance.
The ROV was developed in consideration of the attitude control during the
removal operation. Because, the attitude, such as surge and pitch, of ROV
became unstable when performing jellyfish removal work. To solve this problem,
we equipped 8 thrusters to improve attitude stability during the jellyfish
removal work. As results, surge acceleration was reduced about 30.0%, and
pitch angle velocity was reduced about 25.8%, and the jellyfish sample
was chopped within 25 seconds.
Keywords: robot designocean engineering iROVjellyfish removal work
ARTICLE INFO
Article History
Received 25 November 2021
Accepted 17 March 2022
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