Underwater observation system using Autonomous Towed Vehicle

Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600) Pub Date : 2004-11-09 DOI:10.1109/OCEANS.2004.1405561

H. Sakai, T. Tanaka

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引用次数: 3

Abstract

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.

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使用自主拖曳车辆的水下观测系统

在东京湾航道整治工程中，为了确认东京湾第三堡的残块所建造的人工鱼礁的效果，需要拍摄照片。然而，在这个海域，水流很快，水深太深，潜水员无法工作。因此，需要开发一种新的系统来安全、高效地进行观测工作。提出了一种基于“自主拖曳车”的水下观测系统，并通过基本运动仿真研究了该系统的动态特性。并根据拖曳舱试验结果确定了水动力系数。在试验数据的基础上，通过试验验证了拖曳车辆的稳定性后，制造了原型模型的车身。本文讨论了车辆的整体控制系统，包括与障碍物的避碰方法。为了验证水下地理信息系统(ugis)的可行性，本文还介绍了利用现有的自主水下航行器(AUV)进行的现场实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

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

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