SUBJECT: Ph.D. Proposal Presentation
BY: Ali Alsaibie
TIME: Tuesday, March 28, 2017, 10:00 a.m.
PLACE: MARC Building, 201
TITLE: Mechatronic Design of Micro Underwater Vehicles
COMMITTEE: William E. Singhose, Chair (ME)
Kamal Youcef-Toumi (MIT) (ME)
Eric. N. Johnson (AE)
Aldo A. Ferri (ME)
Jonathan Rogers (ME)


The purpose of this project is to develop an autonomous mobile robot platform that can navigate, untethered, in a confined underwater environment. From pipelines and piping structures to underwater risers and installations, numerous underwater spaces are hard to reach and require periodic and reliable inspection. We intend to develop a new autonomous vehicle to carry the inspection tools to those locations.

The study will focus on three areas: Mechatronic Design, Perception and Planning and Control. We designed a maneuverable underwater robot and plan to implement a pose estimation technique using structured light as well as obstacle detection with pattern matching. To navigate autonomously within a structure, appropriate mapping and planning techniques will be investigated and tested. In pursuing this project we hope to assess the feasibility of using a maneuverable robot in such confined environments, and in doing so understand the limitations and opportunities that come within.