Thruster Arrangment and Operation Support of An Underwater Vehicle for Surface Sediment Removal
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- SUKA Mizuki
- Tokai University
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- SAKAGAMI Norimitsu
- Tokai University
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- WADA Takahiro
- Tokai University
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- KAWANURA Sadao
- NAIST Ritsumeikan University, Chitose Robotics Inc.
Bibliographic Information
- Other Title
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- 水中ロボットによる表土除去作業のためのスラスタ配置決定と操縦支援
Abstract
<p>In this paper, we consider the application of haptic shard control to an floating underwater robot for surface sediment removal. First, we experimentally measured water flow velocities generated by marine thrusters to determine the thruster arrangement for surface sediment removal. Based on the thruster arrangement, we discuss a method to compensate for the reaction force acting on the underwater robot during sediment removal.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (0), 2A2-A06-, 2022
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390576037461196416
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed