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DIVEBOT: A diving robot with a whale-like buoyancy mechanism

Published online by Cambridge University Press:  23 September 2003

David McFarland ,
Ian Gilhespy  and
Ehsan Honary
David McFarland
Affiliation:
Intelligent Autonomous Systems (Engineering) Laboratory, University of West of England, Frenchay Campus, Coldharbour Lane, Bristol BS16 1QY (UK)
Ian Gilhespy
Affiliation:
Intelligent Autonomous Systems (Engineering) Laboratory, University of West of England, Frenchay Campus, Coldharbour Lane, Bristol BS16 1QY (UK)
Ehsan Honary
Affiliation:
Intelligent Autonomous Systems (Engineering) Laboratory, University of West of England, Frenchay Campus, Coldharbour Lane, Bristol BS16 1QY (UK)
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Abstract

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In this paper we describe a prototype underwater robot capable of altering its density by heating oil. It is designed to gather information in the ocean, as a member of a flock of such robots. We also describe the forces acting on the robot, and suggest a preliminary control model.

Keywords

DIVEBOTDiving robotControl modelOcean
Type
Research Article
Information
Robotica , Volume 21 , Issue 4 , August 2003 , pp. 385 - 398
Copyright
© 2003 Cambridge University Press