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Takemura, Fumiaki*; Taba, Ryo*; Hirayama, Keita*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
Artificial Life and Robotics, 22(4), p.405 - 411, 2017/12
The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. The manta method makes great physical burden. Therefore, the authors think that this task can substitute an underwater robot. This underwater robot is desirable to be able to keep altitude above the seabed. Hence, the authors have been developing the altitude (its distance above the sea floor) keeping system for an underwater robot. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa prefecture, Japan. So, the authors have been adopting the distance measuring method using the two laser beams and a monocular camera with image processing. It realize to keep altitude of an underwater robot by using such devices. The evaluation experiments of the altitude keeping system are carried out in the pool.
Taba, Ryo*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
Proceedings of 21st International Symposium on Artificial Life and Robotics (AROB 21st 2016) and 1st International Symposium on BioComplexity (ISBC-1) (Internet), p.395 - 399, 2016/01
Noha, Kazuma*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sakagami, Norimitsu*; Sagara, Shinichi*
no journal, ,
This paper described an automatic visual tracking system for underwater mobile object. We developed a prototype system and reported the experiments.
Hirayama, Keita*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper discussed about the study and development of a towed underwater robot. We described about the required specifications for designing a robot prototype.
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper proposed an observation altitude maintenance method with a monocular camera for realizing Manta method-like observation. We developed a test platform and attempted the basic experiments.
Kobashigawa, Shuta*; Hirayama, Keita*; Hirayasu, Shimon*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*
no journal, ,
In this paper, we describe the development of hovering control of underwater robot for injecting the acetic acid to the crown-of-thorn. Underwater robot uses a hovering on image processing to operation assistance.
Takemura, Fumiaki*; Hirayama, Keita*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper reported that the development of an underwater robot for coral reef inspection and also basic experiments with the prototype.
Hirayama, Keita*; Taba, Ryo*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
We have been studying and developing an underwater robot for coral reef conservation. In this research, we propose a towed robot using flap device for underwater survey. This underwater robot is developed for two purposes. The first purpose of this underwater robot is reducing the physical load on the research diver. The Seconds purpose of this underwater robot is to investigate underwater of improving efficiency. We designed with towed underwater robot and umbilical cable. The robot consist of three parts, two pressure vessels, and a flap device. The umbilical cable using PLC (Power Line Communication). Preliminary experiments indicate that the towed underwater robot have basic performance.
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
Distribution map of the degree of coral has been created by Manta method to use coral conservation activities. The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. But the manta method makes great physical burden also underwater robot can substitute, and desirable underwater robot that can maintain an altitude between underwater robot and seabed. Therefore, we have developed the altitude maintenance system for underwater robot for the purpose of investigate by Manta method is described in this paper. The distance measuring method using the laser beams and a monocular camera with image processing is adopted reason that waters inhabiting coral is high transparency. The evaluation experiments in the pool with the system and underwater robots were confirmed to have sufficient accuracy for the assumed survey mission.
Suzuki, Tsuyoshi*; Ozeki, Ryutaro*; Sawai, Kei*; Yamashiro, Hideyuki*; Takemura, Fumiaki*; Kawabata, Kuniaki; Takahashi, Satoru*; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
In the current study, we developed an underwater monitoring sensor network system to support the observational activities to maintain the coral reef environment. This paper describes the measurement method to detect the growth area of the coral for a quantitative evaluation of the coral condition change using fluorescence coral image by capturing the underwater monitoring sensor network.
