In this work we present a novel system for marine sediment sampling aimed at microplastic (MP) assessment studies. The system is composed of a medium-sized underwater legged robot (ULR) equipped with a customized sampler consisting of a grab mounted on an underactuated mechanism. The system was developed following the requirements of marine biologists actively involved in MP … [Read more...] about Marine Sediment Sampling With an Underwater Legged Robot: A User-Driven Sampling Approach for Microplastic Analysis
Sea floor
Opportunistic (Re)planning for Long-Term Deep-Ocean Inspection: An Autonomous Underwater Architecture
Robots are increasingly used in subsea environments because of their positive impact on human safety and operational capabilities in the deep ocean. However, achieving full autonomy remains challenging because of the extreme conditions they encounter. In this context, we propose an autonomous underwater architecture for long-term deep-ocean inspection that robustly plans … [Read more...] about Opportunistic (Re)planning for Long-Term Deep-Ocean Inspection: An Autonomous Underwater Architecture
Multirobot Multimodal Deep Sea Surveys: Use in Detailed Estimation of Manganese Crust Distribution
This article describes a multiyear survey of cobalt-rich manganese crust (Mn-crust) deposits using multiple underwater robots. Using two autonomous underwater vehicles and one remotely operated vehicle, mounted with camera systems, multibeam sonar, and subbottom sensors, large areas were surveyed by incorporating the advantages of each robot to create a comprehensive database … [Read more...] about Multirobot Multimodal Deep Sea Surveys: Use in Detailed Estimation of Manganese Crust Distribution
A Nitinol-Embedded Wearable Soft Robotic Gripper for Deep-Sea Manipulation: A Wearable Device for Deep-Sea Delicate Operation
Soft robotic gripper systems that can safely and nondestructively collect biological and artifact samples and perform deep-sea manipulation tasks are essential for deep-sea science and engineering applications. In this article, we implement a soft robotic gripper composed of nitinol-embedded soft fingers and an in situ wearable mechanism, which allows the soft gripper to be put … [Read more...] about A Nitinol-Embedded Wearable Soft Robotic Gripper for Deep-Sea Manipulation: A Wearable Device for Deep-Sea Delicate Operation
