Knowledge Resource Center for Ecological Environment in Arid Area
Maneuverability Experiments of AUV | |
Hyakudome, Tadahiro; Nakamura, Masahiko; Tsukioka, Satoshi; Yoshida, Hiroshi; Ishikawa, Akihisa; Sawa, Takao; Ishibashi, Shojiro; Nakajoh, Hidehiko; Ishiwata, Junya; Aoki, Taro | |
通讯作者 | Hyakudome, Tadahiro |
会议名称 | 18th International Offshore and Polar Engineering Conference (ISOPE 2008) |
会议日期 | JUL 06-11, 2008 |
会议地点 | Vancouver, CANADA |
英文摘要 | There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. The plan for its development is in several steps. As the first step an AUV, named "URASHIMA", was built in 1999, and sea trials have been held since 2000. URASHIMA dived to 3,518m depth in 2001. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km, beyond its target range of 300 km. Recently the AUV "URASHIMA" has begun to undertake cruises for scientific applications. These applications require precise maneuvering of the vehicle for detailed investigations. For high performance maneuvering of the vehicle, it is necessary to design a control system based on a mathematical model for the vehicle. To construct an accurate mathematical model, experiments on the maneuverability of the vehicle were done during sea trials. The experimental results were used in system identification for the mathematical model. This paper describes vehicle dynamics, presents experimental results of maneuverability obtained with the AUV "URASHIMA" during the sea trials, and presents calculated results after the system identified a mathematical model. |
英文关键词 | Autonomous Underwater Vehicle Sea Trial Vehicle dynamics System Identification |
来源出版物 | PROCEEDINGS OF THE EIGHTEENTH (2008) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL 2 |
ISSN | 1098-6189 |
出版年 | 2008 |
页码 | 389-393 |
ISBN | ***************** |
出版者 | INTERNATIONAL SOCIETY OFFSHORE& POLAR ENGINEERS |
类型 | Proceedings Paper |
语种 | 英语 |
国家 | Japan |
收录类别 | CPCI-S |
WOS记录号 | WOS:000259889600060 |
WOS类目 | Engineering, Environmental ; Engineering, Marine ; Engineering, Ocean ; Engineering, Geological |
WOS研究方向 | Engineering |
资源类型 | 会议论文 |
条目标识符 | http://119.78.100.177/qdio/handle/2XILL650/297318 |
作者单位 | Japan Agcy Marine Earth Sci & Technol, Yokosuka, Kanagawa 2370061, Japan |
推荐引用方式 GB/T 7714 | Hyakudome, Tadahiro,Nakamura, Masahiko,Tsukioka, Satoshi,et al. Maneuverability Experiments of AUV[C]:INTERNATIONAL SOCIETY OFFSHORE& POLAR ENGINEERS,2008:389-393. |
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