Development of autonomous scanning and cleanning system for cleaning biofouling on niche area of ship hull. We developed a laser-camera system to scan a niche area, and made an optimal-path by considering normal vectors of niche area. And, we controlled the 6 DOF hydruic manipulator based on paths with considering the collsiion between manipulator and target area. This system verified in ground and underwater: precisely idificated the target area using laser-camera system, and cleaned the biofouling organism imitations on the target area. Video Clip link

Development of vision-based underwater object recognition and tracking technology using dual-arm robot. We aim to develop a technology to improve the recognition / cognition performance of marine environments and objects by installing camera sensors on two-armed robots and using them for image recognition and tracking of dynamic objects underwater. Based on these technologies, we plan to develop autonomous underwater work technology using two-armed marine robots.

Development of marine robots based on Cyber-Physical Operation System. We implement the HILS(Human In-the-Loop System) to create more realistic underwater environment and robot for humans. This HILS includes haptic device, motion station, VR acoustic system and several cognition / cueing algorithms to enhance fidelity. The HILS algorithms tested in our underwater rover, and integrated with real-time forward dynamics and inverse dynamics anlysis system and VR·AR system. (On going)

Researching autonomous technology, navigation, and control for autonomous underwater vehicles. The underwater environment is difficult to use land-based technologies due to the influence of the medium. We conduct research to develop and demonstrate autonomous system algorithms suitable for underwater environments and underwater robots. Video Clip link