NDLI: Underwater construction robot for rubble leveling on the seabed for port construction

Content Provider	IEEE Xplore Digital Library
Author	Tae Sung Kim In Sung Jang Chang Joo Shin Min Ki Lee
Copyright Year	2014
Description	Author affiliation: Dept. of Control & Instrum. Eng., Changwon Nat. Univ., Changwon, South Korea (Min Ki Lee) \|\| Korea Inst. of Ocean Sci. & Technol., Ansan, South Korea (In Sung Jang; Chang Joo Shin) \|\| Res. Inst. of Mechatron., Changwon Nat. Univ., Changwon, South Korea (Tae Sung Kim)
Abstract	This research develops an underwater construction robot to level rubbles on the seabed for port construction. The rubble leveling is carried out by an underwater robot equipped with imaging sonars and underwater cameras, LBL and gyroscope sensors. A virtual reality system is developed to visualize the robot's figure and the topography over the working environment; hence, the robot is virtually tele-operated by an operator. This paper presents the robot's system and control, and it describes the working process of the rubble leveling carried out by the robot. In addition, the performance of the robot is demonstrated through the experimental results in subsea. The working speed of the robot is faster than that of a human diver, and the robot can work longer than the diver who can work for a limited time to prevent submarine sickness. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.
Starting Page	1657
Ending Page	1661
File Size	1406137
Page Count	5
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987825
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	virtual reality rubble leveling Magnetic resonance imaging multi-functional arm Robot vision systems topology underwater construction robot Cameras Transceivers Gyroscopes
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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