Development of a motion control system for underwater gliding vehicle

Satoru Yamaguchi, Takashi Naito, Takeshi Kugimiya, Kengo Akahoshi, Masataka Fujimoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

The authors have been developing a gliding type underwater vehicle, an autonomous unmanned underwater robot. The motion of the vehicle is not limited by a tether cable and it can cruise freely in the ocean, using the lift of a wing and changing its weight in the water, repeatedly descending and ascending. It does not have a thruster. An untethered underwater vehicle cannot be supplied energy by a support ship and must be equipped with sufficient energy in its body. In this point of view a gliding type vehicle has an advantage because high propulsive efficiency can be expected using the gliding method (Ura, 1989; Ura, 1990). This paper presents a motion control system using an air pump to change the body weight in water. The depth of the vehicle is controlled by a controller using a depth sensor. The system controls the depth of the vehicle using a buoyancy changing mechanism. The attitude of the vehicle is also controlled by ailerons and a device that changes the center of gravity of the vehicle.

本文言語英語
ホスト出版物のタイトルProceedings of The Seventeenth 2007 International Offshore and Polar Engineering Conference, ISOPE 2007
ページ1115-1120
ページ数6
出版ステータス出版済み - 2007
イベント17th 2007 International Offshore and Polar Engineering Conference, ISOPE 2007 - Lisbon, ポルトガル
継続期間: 7月 1 20077月 6 2007

出版物シリーズ

名前Proceedings of the International Offshore and Polar Engineering Conference
ISSN(印刷版)1098-6189
ISSN(電子版)1555-1792

その他

その他17th 2007 International Offshore and Polar Engineering Conference, ISOPE 2007
国/地域ポルトガル
CityLisbon
Period7/1/077/6/07

!!!All Science Journal Classification (ASJC) codes

  • 機械工学
  • エネルギー工学および電力技術
  • 海洋工学

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