Maneuverability experiments of AUV

Tadahiro Hyakudome, Masahiko Nakamura, Satoshi Tsukioka, Hiroshi Yoshida, Akihisa Ishikawa, Takao Sawa, Shojiro Ishibashi, Hidehiko Nakajoh, Junya Ishiwata, Taro Aoki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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. URASHTMA 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.

Original languageEnglish
Title of host publicationProceedings of the 18th 2008 International Offshore and Polar Engineering Conference, ISOPE 2008
Pages389-393
Number of pages5
Publication statusPublished - Dec 1 2008
Externally publishedYes
Event18th 2008 International Offshore and Polar Engineering Conference, ISOPE 2008 - Vancouver, BC, Canada
Duration: Jul 6 2008Jul 11 2008

Publication series

NameProceedings of the International Offshore and Polar Engineering Conference
ISSN (Print)1098-6189
ISSN (Electronic)1555-1792

Other

Other18th 2008 International Offshore and Polar Engineering Conference, ISOPE 2008
CountryCanada
CityVancouver, BC
Period7/6/087/11/08

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All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Ocean Engineering
  • Mechanical Engineering

Cite this

Hyakudome, T., Nakamura, M., Tsukioka, S., Yoshida, H., Ishikawa, A., Sawa, T., ... Aoki, T. (2008). Maneuverability experiments of AUV. In Proceedings of the 18th 2008 International Offshore and Polar Engineering Conference, ISOPE 2008 (pp. 389-393). (Proceedings of the International Offshore and Polar Engineering Conference).