Tri-SedimentBot: An underwater sediment sampling robot

In this paper, we present Tri-SedimentBot (TSB), an underwater sediment sampling robot that uses combined rotation and linear motion to collect sediment. A main contribution of this system is a novel design for the sampling system that employs a dual-motion system with feedback control in order to m...

Full description

Saved in:
Bibliographic Details
Main Authors: Jun Han Bae, Jee Hwan Park, Sangjun Lee, Byung-Cheol Min
Format: Conference Proceeding
Language:English
Subjects:
Actuators
DC motors
Monitoring
Rivers
Robots
Sediments
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, we present Tri-SedimentBot (TSB), an underwater sediment sampling robot that uses combined rotation and linear motion to collect sediment. A main contribution of this system is a novel design for the sampling system that employs a dual-motion system with feedback control in order to maintain the stability of the TSB and the sediment collection method. We demonstrate the performance of the TSB with a set of experiments using both open and closed-loop control systems; experiments show that the TSB with closed-loop control system outperforms the TSB with open-loop control system.
ISSN:2161-8089
DOI:10.1109/COASE.2016.7743567