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Towards amphibious robots: Asymmetric flapping foil motion underwater produces large thrust efficiently
(Massachusetts Institute of Technology. Sea Grant College Program, 2009)
The development of amphibious robots requires actuation that enables them to crawl as well as swim; sea turtles are excellent examples of amphibious functionality, that can serve as the biomimetic model for the development ...
Affordable Deep Ocean Exploration with a Hovering Autonomous Underwater Vehicle: Odyssey IV: a 6000 Meter Rated, Cruising and Hovering AUV
(Massachusetts Institute of Technology. Sea Grant College Program, 2005)
The Autonomous Underwater Vehicle Laboratory (AUVLAB) at the Massachusetts Institute of Technology (MIT) is currently building and testing a new, general purpose and inexpensive 6000 meter capable Hovering Autonomous ...
Development and application of distributed MEMS pressure sensor array for AUV object avoidance
(Massachusetts Institute of Technology. Sea Grant College Program, 2009-07)
A novel sensory system is being developed for AUVs to augment current sensory systems for navigation and operation in difficult environments. These environments are frequently cluttered and murky with substantial flow from ...
Touch-at-a-Distance: Pressure Microsensor Arrays for AUV Navigation
(Massachusetts Institute of Technology. Sea Grant College Program, 2009)
Inspired by the lateral-line organ in fish, the ultimate objective of this project continues to be the development of a passive system for AUVs that can detect, classify and locate underwater objects. The lateral line ...
Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV
(Massachusetts Institute of Technology. Sea Grant College Program, 2009)
The Odyssey IV class AUV was designed to fill the evolving needs of research and industry for a deep rated (6000 meter) vehicle, which is capable of both efficient cruising and precise hovering. This AUV is powerful enough ...
Lateral-Line Inspired MEMS-Array Pressure Sensing for Passive Underwater Navigation
(Massachusetts Institute of Technology. Sea Grant College Program, 2007-07)
This paper presents work toward the development of a novel MEMS sensing technology for AUVs. The proposed lateral line-inspired sensor system is a high-density array of pressure sensors for measuring hydrodynamic disturbances. ...
Linearized Hovering Control With One or More Azimuthing Thrusters
(Massachusetts Institute of Technology. Sea Grant College Program, 2007)
We propose a simple method of control system design for marine vehicles with one or more azimuthing propulsors, and specifically for the case where the speed of the actuator is on the same time scale as the plant dynamic ...