Special Issue "Underwater Robots in Ocean and Coastal Applications"

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Computing and Artificial Intelligence".

Deadline for manuscript submissions: 15 July 2019

Special Issue Editors

Guest Editor
Prof. Dr. Neil Bose

Memorial University of Newfoundland, St. John's, NL A1C 5S7, Canada
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Guest Editor
Dr. Shuangshuang Fan

Australian Maritime College, University of Tasmania, Australia
Website | E-Mail
Guest Editor
Dr. Ting Zou

Department of Mechanical Engineering, Memorial University, Canada
Website | E-Mail

Special Issue Information

Dear Colleagues,

Topics of particular relevance are advances in artificial intelligence expected over the next 20 years that would be “game changers” in the development of underwater vehicles; advances in underwater communications and localization; developments in energy storage and utilization; and environmental energy harvest mechanisms. In the shorter term, advances in the intervention capability of autonomous vehicles (both underwater and surface) will be key as will the development of “trusted” autonomy and the operation of fleets of vehicles in a host of innovative missions (e.g., under ice, in deep ocean, and in dynamic environments).

The aim of this Special Issue on underwater robotics is to welcome papers that especially address the following areas:

  1. Presenting/discussing the current autonomous capabilities of underwater robots and their applications;
  2. Identifying critical issues and themes in the field of underwater robotics for the next 5 – 20 years;
  3. Prioritizing these issues based on their practicality, importance, and potential time horizon for development.

Prof. Dr. Neil Bose
Dr. Shuangshuang Fan
Dr. Ting Zou
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1500 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (1 paper)

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Research

Open AccessArticle Design and Kinematic Control of the Cable-Driven Hyper-Redundant Manipulator for Potential Underwater Applications
Appl. Sci. 2019, 9(6), 1142; https://doi.org/10.3390/app9061142
Received: 18 January 2019 / Revised: 9 March 2019 / Accepted: 10 March 2019 / Published: 18 March 2019
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Abstract
Underwater manipulators are important robotic tools in the exploration of the ocean environment. Up to now, most existing underwater manipulators are rigid and with fixed 5 or 7 degrees of freedom (DOF), which may not be very suitable for some complicated underwater scenarios [...] Read more.
Underwater manipulators are important robotic tools in the exploration of the ocean environment. Up to now, most existing underwater manipulators are rigid and with fixed 5 or 7 degrees of freedom (DOF), which may not be very suitable for some complicated underwater scenarios (e.g., pipe networks, narrow deep cavities, etc.). The biomimetic concept of muscles and tendons is also considered as continuum manipulators, but load capacity and operation accuracy are their essential drawbacks and thus limit their practical applications. Recently, the cable-driven technique has been developed for manipulators, which can include numerous joints and hyper-redundant DOF to execute tasks with dexterity and adaptability and thus they have strong potential for these complex underwater applications. In this paper, the design of a novel cable-driven hyper-redundant manipulator (CDHRM) is introduced, which is driven by multiple cables passing through the tubular structure from the base to the end-effector, and the joint numbers can be extended and decided by the specific underwater task requirements. The kinematic analysis of the proposed CDHRM is given which includes two parts: the cable-joint kinematics and the joint-end kinematics. The geometric relationship between the cable length and the joint angles are derived via the established geometric model for the cable-joint kinematics, and the projection relationship between the joint angles and end-effector’s pose is established via the spatial coordinate transformation matrix for the joint-end kinematics. Thus, the complex mapping relationships among the cables, joints and end-effectors are clearly achieved. To implement precise control, the kinematic control scheme is developed for the CDHRM with series-parallel connections and hyper-redundancy to achieve good tracking performance. The experiment on a real CDHRM system with five joints is carried out and the results verify the accuracy of kinematics solution, and the effectiveness of the proposed control design. Particularly, three experiments are tested in the underwater environment, which verifies its good tracking performance, load carrying and grasping capacity. Full article
(This article belongs to the Special Issue Underwater Robots in Ocean and Coastal Applications)
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