POLYBOT

Nowadays robots are increasingly used in many areas. PolyBot is a modular reconfigurable robot which is composed of modules that can be disconnected and reconnected in different arrangements to form a new configuration enabling new functionalities. It is able to change from one form to another with no external mechanical assistance .As well as enabling versatility, the massively redundant nature of the system can lead to robustness and even self-repair. An additional advantage is that economies of scale and batch fabrication of many identical modules may eventually lead to low cost .PolyBot has mainly three versions, G1, G2 and G3. The first generation of PolyBot, G1, has the basic ideas shared in all the generations of repeated modules which are built up from simple hobby RC servos, power and computation are supplied off board. The second generation of PolyBot, G2 includes onboard computing as well as the ability to reconfigure automatically via shape memory alloy actuated latches. The third generation, G3, is the most advanced one and consists of integrated active brake, more sensors than G2, low power requirement, less weight &volume and many more. Its applications include space exploration, military operations, surface mobility, underground mining and so on. PolyBot is reliable, versatile and robust. Since it is made up of repeated modules, losing one part will not affect its functionality. Mass production of these modules can reduce the cost of PolyBot.

Autonomous Underwater Vehicle

This paper introduces an active vision system for Autonomous Underwater Vehicle (AUV). Because of the property of underwater environment, lots of researchers are doing research in this area. It is very difficult to get images from environments like messy underwater. With the help of a proper vision system we can use the vehicle for different purposes like underwater monitoring as well as rescue operations.

An underwater vehicle is expected to be highly efficient in its vision or object detection rather than just relying on sensors. To do the project first I looked at other articles based on robotic vision. Most of the reviews are interfaced with sensors. When we use more sensors the system will be complicated. But as an engineer I want to create a simple system rather than a complicated one.

In underwater applications the vision is limited because of the underwater environment. Cameras are one of the important factors in these types of devices. It is very important in such a device to implement a perfect camera with high resolution and with RGB sensors. The underwater pictures taken by the cameras are often of poor quality because of high attenuation and it is easily affected by noise. However, different image enhancing tools are available to enhance image quality.

This article presents an active vision system for Autonomous Underwater Vehicle. Vision is an important factor for an underwater vehicle. Because of efficient vision system, the vehicle can be used for different monitoring purposes. It can also be used for rescue operations because it has got an advanced image processing system and an AUV can frequently send images to the base station. We can easily find out the problems in underwater pipelines or cables and can easily rectify the problems.