Study of the underwater observation system in fast water current

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Tanaka

Self Cite

This paper discusses an autonomous towed vehicle for underwater inspection in a port area, in which a sea current is so fast and complex. The autonomous towed vehicle has three different navigation modes; towed mode, autonomous mode and kite mode, to assure safe and reliable inspection in such a port area. An autonomous underwater vehicle (AUV) is employed as a towed vehicle to increase autonomy. In towed systems, it is important to monitor a towed force for preventing cable breaks and making use of it more efficiently since a towing cable plays an important role in transmitting electric signals and towing forces. In this paper, we propose a sequence for towed force estimation consisting of different navigation modes and control methods for it. In addition, the navigation control system of the autonomous towed vehicle is briefly described. Simulations to verify the towed force estimation and control methods are carried out and the results are discussed.Index Terms -Towed vehicle, AUV, port area.

Section: System Overviewmentioning

confidence: 99%

“…We have proposed an autonomous towed vehicle for underwater observations in a port area, especially in Tokyo bay [4]. In 1892-1921, Japanese government of Meiji era constructed three forts in Tokyo bay for the defence of Tokyo, the capital of Japan.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Towed Vehicle for Underwater Inspection in a Port Area

Choi

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Tanaka

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“…To obtain the hydrodynamic force derivative and the exact hydrodynamic coefficients for the development of the autonomous control software, the towing tank tests (the resistance test, the oblique motion test, the elevator angle test, and the forced oscillation test ) were carried out [1].…”

Section: Introductionmentioning

confidence: 99%

First Sea Trial of Underwater Observation System Using Autonomous Towed Vehicle

Shiraishi

Proceedings of OCEANS 2005 MTS/IEEE

Choi

et al.

Self Cite

This paper discusses an autonomous towed vehicle for underwater inspecion in a port area, in which a sea current is so fast and complex. The autonomous towed vehicle has three different navigation modes; towed mode, autonomous mode and kite mode, to assure safe and reliable inspection in such a port area. In this paper, we discribe the results of a tank experiment and a real sea trial using this prototype model to verify the effectiveness about our proposed system. The towing test was executed and the suitable values of the control parameter in the proposed system were decided. Next, the stability of the vehicle in the towed mode was confirmed and a depth constant, a heave and pitch control was performed successfully in the real sea area experiments. And it was confirmed that the way point control was possible in an untethered mode.

Underwater observation system using autonomous towed vehicle

Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600)

Tanaka

Self Cite

On the project of the improvement of Tokyo Bay Waterway, it was needed to take a picture to confirm the effect of the artificial fish reefs constructed by the ruined blocks of the Third Fort of Tokyo Bay. However, in this sea area, the current is fast and the water depth is too deep for diver's work. Therefore, to develop a new system in order to carry out viewing work safely and efficiently was required. An underwater observation system using "Autonomous Towed Vehicle" was proposed and the dynamic characteristic of the system was investigated by the basic motion simulation.Moreover, the hydrodynamic coefficients were determined by the results of the towing tank test. After the stability of the towed vehicle was verified by the examination based on the experimental data, the body of the prototype model was manufactured.This paper discusses the total control system of the vehicle including the collision avoidance method with the obstacle. And the result of the field experiment which uses existing AUV (Autonomous Underwater Vehicle) aiming to confirm the feasibility of the U-GIS (Underwater Geographic Information System) using AUV is also described.