HydroRobotics is a site dedicated to my interest in robotics,environmental science,
engineering, and oceanography. This is a project site for various projects
I have or am pursuing in these areas, or, better yet, the fusion of these
areas. This is the home of H2rObot, an autonomous surface water vehicle
intended to perform bathymetric mapping.
There is nothing for sale here (well, yet anyway), it is just a site about aquatic
robots and ROVs. The intent is to be a home site for my projects
and interests and to share information with others that may be
interested in this. So, feel free to look around, download what
you want and be sure to visit my friendly suppliers and others with
similar interests listed on the Links page. I am an engineer by trade,
so this is partly hobby and partly professional. I you have any
questions or think I might be able to help you, please shoot
me an email. It is always good to hear from others interested in the subject.
Control Systems Electronics and Programming
Control Electronics & Programming
One of the many things that fascinate me about robotics is the
electronics and programming that is combined to form provide the
control logic for the various robotic applications I develop. Although
I do use a number of prebuilt modules from various vendors
(see the Vendors page), much of the control circuitry is hand built with
boards I have printed. Unfortunately, my “benign tremors” (my doctors term,
sometimes they seem a bit less than benign to me) more-or-less prevent me from
building surface mount circuits. I started with FORTRAN (IV, actually) but I
code in a number of other languages. XOJO is my favorite development tool but,
since I am migrating away from X86 processors, I really don't use it much any longer,
most of the new “on board” programming is C, C++, Python, and/or a bit of Java.
I am also using ROS (Robot Operating System some).
As you might notice, since my background is also in aquatic biology and mathematical
ecology, most of the "Bots" apply to aquatic systems, in one way or another. The
ultimate challenge will be a fully autonomous submersable … We'll see!
Mechanics, Construction, & Materials Techniques
As a long-time tinkerer, woodworker, etc., one of the most fun
parts of robotics is designing and building the robots themselves.
Due to advancing age, retreating eyesight and "benign tremors", my
constructions may not be as "pretty" as they once may have been, but
they are generally sturdy and serviceable. I have acquired many new
construction techniques over the past couple of decades including
fiberglassing (I can finally do this w/o laminating myself to the part),
mold making and casting, aluminum/brass/stainless/plastic machining, welding,
vacuum bagging, and vacuum forming. Can't say I'm particularly good at any
of it, but then again: "sturdy not purdy"
Robotics for Environmental Applications
As an Environmental Engineer, my speciality is mainly environmental
simulation modeling. When I started,to be a modeler meant also being
a programmer. I began with FORTRAN (yes, we are the same age). I
am also very interest and involved in remote sensing. So, robotics offers
a unique opportunity to develop autonomous methods for environmental
sensing. As you will see, for (not all) most of the robots/projects the
objective is data gathering for subsequent simulation models, such as
bathymetry (sonar depth mapping), magnetometry, tomography, etc.
Version 3.0 was used peform Magtenometric Mapping
Manhole Inspection Tool (Johnnie 5)
This is a "downhole" manhole inspection tool that is a precursor to the pipe crawling/mapping robots.
Pipe Crawler V1
This is the first propotype to the Pipe Mapping BOT. A pipe crawling LiDAR platform