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Brodogradnja : An International Journal of Naval Architecture and Ocean Engineering for Research and Development, Vol. 67 No. 3, 2016.

Original scientific paper

https://doi.org/10.21278/brod67305

MECHANICAL DESIGN OF AN AUTONOMOUS MARINE ROBOTIC SYSTEM FOR INTERACTION WITH DIVERS

Nikola Stilinović orcid id orcid.org/0000-0002-0379-2870 ; University of Zagreb, Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies Unska 3, 10000 Zagreb, Croatia
Milan Marković ; University of Zagreb, Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies Unska 3, 10000 Zagreb, Croatia
Nikola Mišković orcid id orcid.org/0000-0003-1474-4126 ; University of Zagreb, Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies Unska 3, 10000 Zagreb, Croatia
Zoran Vukić orcid id orcid.org/0000-0002-5998-2913 ; University of Zagreb, Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies Unska 3, 10000 Zagreb, Croatia
Antonio Vasilijević orcid id orcid.org/0000-0002-0862-3726 ; University of Zagreb, Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies Unska 3, 10000 Zagreb, Croatia

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Abstract

SCUBA diving, professional or recreational, remains one of the most hazardous activities known by man, mostly due to the fact that the human survival in the underwater environment requires use of technical equipment such as breathing regulators. Loss of breathing gas supply, burst eardrum, decompression sickness and nitrogen narcosis are just a few problems which can occur during an ordinary dive and result in injuries, long-term illnesses or even death. Most common way to reduce the risk of diving is to dive in pairs, thus allowing divers to cooperate with each other and react when uncommon situation occurs. Having the ability to react before an unwanted situation happens would improve diver safety.
This paper describes an autonomous marine robotic system that replaces a human dive buddy. Such a robotic system, developed within an FP7 project “CADDY – Cognitive Autonomous Diving Buddy” provides a symbiotic link between robots and human divers in the underwater. The proposed concept consists of a diver, an autonomous underwater vehicle (AUV) Buddy and an autonomous surface vehicle (ASV) PlaDyPos, acting within a cooperative network linked via an acoustic communication channel. This is a first time that an underwater human-robot system of such a scale has ever been developed. In this paper, focus is put on mechanical characteristics of the robotic vehicles.

Keywords

diver; underwater robot; navigation; communication; interaction; AUV; ASV

Hrčak ID:

162273

URI

https://hrcak.srce.hr/162273

Publication date:

30.9.2016.

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