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Monitored and controlled underwater scissor arm manipulator using pixy camera

Underwater vehicle manipulator system (UVMS) generally consists of a camera unit and robotic manipulator. Its main function is to replace human work in underwater manipulation tasks. Most commercially available manipulators are not designed for autonomous underwater vehicle (AUV) because the vehicle...

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Main Authors: Mohd Aras, Mohd Shahrieel, Chaing, Tan Pheng, Aripin, Muhamad Khairi, Mohd Zambri, Mohd Khairi, Khamis, Alias, Bahar, Mohd Bazli, Ab Rashid, Mohd Zamzuri
Format: Article
Language:English
Published: National Institute of Science Communication and Information Resources (NISCAIR) 2019
Online Access:http://eprints.utem.edu.my/id/eprint/24198/2/IJMS%2048%287%29%201120-1131.PDF
http://eprints.utem.edu.my/id/eprint/24198/
http://nopr.niscair.res.in/bitstream/123456789/48853/3/IJMS%2048%287%29%201120-1131.pdf
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spelling my.utem.eprints.241982023-07-03T10:20:08Z http://eprints.utem.edu.my/id/eprint/24198/ Monitored and controlled underwater scissor arm manipulator using pixy camera Mohd Aras, Mohd Shahrieel Chaing, Tan Pheng Aripin, Muhamad Khairi Mohd Zambri, Mohd Khairi Khamis, Alias Bahar, Mohd Bazli Ab Rashid, Mohd Zamzuri Underwater vehicle manipulator system (UVMS) generally consists of a camera unit and robotic manipulator. Its main function is to replace human work in underwater manipulation tasks. Most commercially available manipulators are not designed for autonomous underwater vehicle (AUV) because the vehicle does not have sufficient power supply to drive these manipulators which are electro-hydraulically driven. A proposed solution is to invest in development of low power underwater manipulator to deepen studies in AUV. Thus, this research has an objective of developing an underwater manipulator for small scale AUV. In this research, the manipulator is used in an object recovery task. An acrylic scissor arm which is electro-mechanically driven is used as manipulator in this research. Permanent magnets are used as its end effector. A Pixy CMUcam5 vision sensor is paired with this manipulator to navigate the AUV and control the manipulator. The usage of planar pressure housing helps in reducing light refraction effect of underwater environment that may affect the sensor’s accuracy. From the simulation done using Solid Works, it is found out that type 316L stainless steel is the best choice for the manipulator developed. To evaluate the performance of the UVMS developed, a series of tests are carried out. Based on the results obtained, it is known that the system has high speed and consistency with minimum time delay between input and output. As long as an object has distinct colour signature from its background and its surrounding is clear and well illuminated, the Pixy vision sensor can detect that object regardless of the distance between the sensor and the object. National Institute of Science Communication and Information Resources (NISCAIR) 2019-07 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/24198/2/IJMS%2048%287%29%201120-1131.PDF Mohd Aras, Mohd Shahrieel and Chaing, Tan Pheng and Aripin, Muhamad Khairi and Mohd Zambri, Mohd Khairi and Khamis, Alias and Bahar, Mohd Bazli and Ab Rashid, Mohd Zamzuri (2019) Monitored and controlled underwater scissor arm manipulator using pixy camera. Indian Journal of Geo-Marine Sciences, 48 (7). pp. 1120-1131. ISSN 0379-5136 http://nopr.niscair.res.in/bitstream/123456789/48853/3/IJMS%2048%287%29%201120-1131.pdf
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description Underwater vehicle manipulator system (UVMS) generally consists of a camera unit and robotic manipulator. Its main function is to replace human work in underwater manipulation tasks. Most commercially available manipulators are not designed for autonomous underwater vehicle (AUV) because the vehicle does not have sufficient power supply to drive these manipulators which are electro-hydraulically driven. A proposed solution is to invest in development of low power underwater manipulator to deepen studies in AUV. Thus, this research has an objective of developing an underwater manipulator for small scale AUV. In this research, the manipulator is used in an object recovery task. An acrylic scissor arm which is electro-mechanically driven is used as manipulator in this research. Permanent magnets are used as its end effector. A Pixy CMUcam5 vision sensor is paired with this manipulator to navigate the AUV and control the manipulator. The usage of planar pressure housing helps in reducing light refraction effect of underwater environment that may affect the sensor’s accuracy. From the simulation done using Solid Works, it is found out that type 316L stainless steel is the best choice for the manipulator developed. To evaluate the performance of the UVMS developed, a series of tests are carried out. Based on the results obtained, it is known that the system has high speed and consistency with minimum time delay between input and output. As long as an object has distinct colour signature from its background and its surrounding is clear and well illuminated, the Pixy vision sensor can detect that object regardless of the distance between the sensor and the object.
format Article
author Mohd Aras, Mohd Shahrieel
Chaing, Tan Pheng
Aripin, Muhamad Khairi
Mohd Zambri, Mohd Khairi
Khamis, Alias
Bahar, Mohd Bazli
Ab Rashid, Mohd Zamzuri
spellingShingle Mohd Aras, Mohd Shahrieel
Chaing, Tan Pheng
Aripin, Muhamad Khairi
Mohd Zambri, Mohd Khairi
Khamis, Alias
Bahar, Mohd Bazli
Ab Rashid, Mohd Zamzuri
Monitored and controlled underwater scissor arm manipulator using pixy camera
author_facet Mohd Aras, Mohd Shahrieel
Chaing, Tan Pheng
Aripin, Muhamad Khairi
Mohd Zambri, Mohd Khairi
Khamis, Alias
Bahar, Mohd Bazli
Ab Rashid, Mohd Zamzuri
author_sort Mohd Aras, Mohd Shahrieel
title Monitored and controlled underwater scissor arm manipulator using pixy camera
title_short Monitored and controlled underwater scissor arm manipulator using pixy camera
title_full Monitored and controlled underwater scissor arm manipulator using pixy camera
title_fullStr Monitored and controlled underwater scissor arm manipulator using pixy camera
title_full_unstemmed Monitored and controlled underwater scissor arm manipulator using pixy camera
title_sort monitored and controlled underwater scissor arm manipulator using pixy camera
publisher National Institute of Science Communication and Information Resources (NISCAIR)
publishDate 2019
url http://eprints.utem.edu.my/id/eprint/24198/2/IJMS%2048%287%29%201120-1131.PDF
http://eprints.utem.edu.my/id/eprint/24198/
http://nopr.niscair.res.in/bitstream/123456789/48853/3/IJMS%2048%287%29%201120-1131.pdf
_version_ 1770555167124488192
score 13.211869

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