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JRM Vol.34 No.1 pp. 64-71
doi: 10.20965/jrm.2022.p0064
(2022)

Paper:

Development of an Underwater Robot for Detecting Shallow Water in a Port

Ririka Itoh and Tadatsugi Okazaki

Tokyo University of Marine Science and Technology
2-1-6 Etchujima, Koto-ku, Tokyo 135-8533, Japan

Received:
February 10, 2021
Accepted:
August 27, 2021
Published:
February 20, 2022
Keywords:
sounding, sonar, water pressure sensor, sensor fusion, underwater robot
Abstract
Development of an Underwater Robot for Detecting Shallow Water in a Port

Water depth map of mooring station measured by the underwater robot

Water depth is an important piece of information for the ship navigator when entering the port. However, the depth is not always accurate as indicated in the chart due to tides and sedimentation. This study aimed to develop an underwater robot to easily measure water depth. To measure the water depth at the place where the ship is moored at the quay, this paper proposed the method of measuring the water depth by submerging an underwater robot under the moored ship. Actual sea area experiments indicated the effectiveness of the underwater robot.

Cite this article as:
R. Itoh and T. Okazaki, “Development of an Underwater Robot for Detecting Shallow Water in a Port,” J. Robot. Mechatron., Vol.34, No.1, pp. 64-71, 2022.
Data files:
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Last updated on Sep. 22, 2022