ODIN Omni-Directional Intelligent Navigator
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ODIN (Omni-Directional Intelligent Navigator)

June 14, 2010
ODIN (Omni-Directional Intelligent Navigator) ODIN (Omni-Directional Intelligent Navigator) is a sphere-shaped, eight-thrusted, autonomous underwater robot capable of instantaneous movement in all six degree-of-freedom motions. ODIN was first built in 1991 as a remotely operated robot and, in 1995, was upgraded to ODIN II, an autonomous underwater robot using a Motorola 68030 and VxWorks. In 2001, it was again upgraded to ODIN III, which is based on a PC104+ and Window 2000 with Real Time eXtension (RTX) embedded real-time system. The robot currently has various navigation sensors including eight sonars, a pressure sensor and Inertial Measurement Unit (IMU), as well as advanced navigation and station-keeping software utilizing Kalman filters. For more information, please refer to the University of Hawaii Autonomous Systems Lab Web site. To read more about NSF's use of robots, including ODIN, see the Robotics Special Report, "Where No Human Can Go (or Wants to)". This research was sponsored in part by a NSF Presidential Young Investigator Award (BES 91-57896) and NSF awards OISE 96-03043 and BES 97-01614. The design, fabrication, research and development of ODIN, ODIN II and ODIN III were performed at the Autonomous Systems Laboratory over the past 13 years by more than 15 researchers, including Dr. Junku Yuh (Director), Dr. Joel S. Fox, Dr. Song K. Choi, Dr. Curtis S. Ikehara, Dr. Katsuyoshi Kawaguchi, Dr. Hyun Taek Choi and Dr. Side Zhao. Based on the research and development of ODIN, a new robot, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions), including a robotic manipulator for 6,000-meter depth has been developed. (Date of Image: August 23, 1995)

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