发表机构
Keio University（庆应义塾大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
MarineCraft通过自包含防水推进模块和模块化重构，消除集中布线与反复密封，实现水下机器人在几分钟内快速组装测试，并保证2.5米深度下的可靠无泄漏运行，从而降低水下机器人开发门槛。
AI 中文摘要
水下机器人的开发常常受到防水和布线复杂性的阻碍，这些因素显著延迟了快速原型设计的过程。本文介绍了MarineCraft，一个旨在通过结构重构加速开发周期的模块化工具包。该系统采用自包含的防水推进模块，集成了电源、无线通信和驱动功能。通过消除集中布线和反复密封的需求，MarineCraft使得各种机器人几何形状能够在几分钟内组装和测试，而非数天。实验结果表明，这种可重构架构能够实现快速、迭代的设计周期，同时在高达2.5米深度下保持可靠运行和无泄漏性能。我们的工具包通过将模块化转化为快速物理原型设计的载体，有效降低了水下机器人的入门门槛。
英文摘要
Underwater robot development is often hindered by the complexities of waterproofing and wiring, which significantly delay the rapid prototyping process. This paper presents MarineCraft, a modular toolkit designed to accelerate the development cycle through structural reconfiguration. The system features self-contained, waterproof propulsion modules that integrate power, wireless communication, and actuation. By eliminating centralized wiring and the need for repeated sealing, MarineCraft allows diverse robot geometries to be assembled and tested in minutes rather than days. Experimental results demonstrate that this reconfigurable architecture enables fast, iterative design cycles while maintaining reliable operation and leak-free performance at depths of up to 2.5 meters. Our toolkit effectively lowers the barrier to underwater robotics by transforming modularity into a vehicle for rapid physical prototyping.
