Arid
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
ISSN1098-6189
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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