Development of a Small Size Underwater Robot for Observing Fisheries Resources – Underwater Robot for Assisting Abalone Fishing –

Author:

Takagi Motoki, ,Mori Hayato,Yimit Adiljan,Hagihara Yoshihiro,Miyoshi Tasuku

Abstract

[abstFig src='/00280003/16.jpg' width=""155"" text='Overview of a small size underwater robot' ] In abalone fishing with spearing, size of abalone which was allowed to catch is strictly controlled in Japanese law. Therefore, fisherman usually judge size by observing from a boat. However, this is difficult, due to aging. Therefore, we have been developing an underwater robot to assist fisherman in determining abalone size by using a stereo camera. The robot is small size and uses 6 thrusters to achieve 5 DOF motion in an underwater environment.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference11 articles.

1. T. Ohba, “Culture of Abalone and Japanese,” Seizando-shoten publishing Co Ltd., 2004 (in Japanese).

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3. J. R. Mart’inez-de Dios, C. Serna, and A. Ollero, “Computer vision and robotics techniques in fish farms,” Robotica, Vol.21, No.3, pp. 233-243, 2003.

4. T. Maki, H. Kondo, T. Ura, Y. Nose, and T. Sakamaki, “Observation of Artificial Structures by Autonomous Underwater Vehicle,” J. of the Japan Society of Naval Architects and Ocean Engineers, Vol.1, pp. 17-26, 2005.

5. S. Kamio, L. Canete, and T. Takahashi, “Development of a small and modular UROV for environmental surveying – Fundamental investigation of modeling and control system –,” The Society of instrument and control engineers tohoku chapter, 292th workshop, No.292-2, 2014.

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