• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

MULTIPLE UNDERWATER ROBOT SYSTEM

Research Project

Project/Area Number 07405049
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field 海洋工学
Research InstitutionUNIVERSITY OF TOKYO

Principal Investigator

URA Tamaki  INSTITUTE OF INDUSTRIAL SCIENCE UNIVERSITY OF TOKYO,PROFESSOR, 生産技術研究所, 教授 (60111564)

Co-Investigator(Kenkyū-buntansha) TOI Yutaka  INSTITUTE OF INDUSTRIAL SCENCE UNIVERSITY OF TOKYO,PROFESSOR, 生産技術研究所, 教授 (40133087)
NOSE Yoshiaki  INSTITUTE OF INDUSTRIAL SCIENCE UNIVERSITY OF TOKYO,RESEARCH ASSOCIATE, 生産技術研究所, 助手 (10114604)
Project Period (FY) 1995 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥15,200,000 (Direct Cost: ¥15,200,000)
Fiscal Year 1997: ¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 1996: ¥3,600,000 (Direct Cost: ¥3,600,000)
Fiscal Year 1995: ¥8,100,000 (Direct Cost: ¥8,100,000)
KeywordsUnderwater Robot / Autonomous Robot / Multiple Robot Operation / Docking / Remotely Operation / Underwater Survey / Wreck / ロボット / 群ロボット / シミュレーション
Research Abstract

As a prototype distributed vehicle, we introduced the "Twin-Burger" vehicle, which was constructed at Ura's laboratory as an autonomous underwater vehicle, and succeeded in its tele-operatoin. Performance of the vehicle was investigated in the developed simulator which can represent underwater environment. The developed tele-operation system provides an estimated image of the vehicle after operation which make the operator feel free from delay of data transmission.
A three vehicle system which consists of a tethered launcher, a transmitter vehicle, and a remotely operaed untethered vehicle (ROUV), was designed based on the above mentioned "Twin-Burger" vehicle. They dive together to an open space near the destination. The transmitter and the ROUV left thelauncher after arriving the destination. When they come to the boundary of reasonable communication, the ROUV leaves the transmitter. Transmitter automatically takes the best position between the launcher and the ROUV.Using this system, we can survey in a complicated topography like a wreck. Through simulation, it was shown that we can survey a wreck of 20m x 20m x 20m in approximately 30 minutes. Thus, the multiple robot system can carry out variety of mission which can never been done by an remotely operated vehicle.

Report

(4 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • 1995 Annual Research Report
  • Research Products

    (33 results)

All Other

All Publications (33 results)

  • [Publications] 須藤 拓・浦 環: "Development of a small Cruising-Type AUV"MANTA-CERESIA"and Guidance System comstructed with Neural Network" Proc.UUST'97. 69-74 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 須藤 拓・浦 環: "小型航行型海中ロボット開発と定高度航行の訓練" 日本造船学会論文集. Vol.181. 205-212 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 浦 環・小原 敬史: "Sea Trials of AUV"R-one Robot"Eguipped with a Closed Cycle Diesel EngineSystem" Proc.Oceans'97. Vol.2of2. 987-993 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 小原 敬史・浦 環: "自律型海中ロボット「アールワン・ロボット」の田辺市沖の自律潜船と海水観測" 海洋調査技術. Vol.9,No.1. 15-22 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 張銘 鈞・浦 環: "ジェネティック・アルゴリズムによる海中ロボット運動の最適化" 日本造船学会論文集. Vol.182. 491-497 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 林雲 聰・浦 環: "非航行型海中ロボットの3次元トラッキング行動のための非線形制御" 日本造船学会論文集. Vol.180. 677-684 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 石井 和男・浦 環・藤井 輝夫・能勢 義昭: "ニューラルネットワークによる潜水艇の運動の同定(その3:学習による外乱への適応)" 日本造船学会論文集. Vol.182. 469-479 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 高井 基行・浦 環: "ニューラルネットワークによる自律型海中ロボットの自己診断システム" 日本造船学会論文集. Vol.180. 685-693 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 荒牧 浩二・浦 環: "水中ロボットによる沈没船周辺のワールドモデルの自動構築" 日本造船学会論文集. Vol.182. 481-490 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 川野 洋・近藤 逸人・浦 環: "無索海中ロボットの遠隔操作に関する研究(その1:時間遅れに対応するシステム構築)" 日本造船学会論文集. Vol.182. 499-506 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 浦 環・高川 真一: "海中ロボット" 成山堂書店, 309 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Suto, T.Ura: ""Development of a small Cruising-Type AUV "MANTA-CERESIA" and Guidance System constructed with Neural Network"" Proc.UUST97, Durham. 69-74 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Suto, T.Ura: ""Development of a Small Cruising-Type AUV and Training of Constant Altitude Swimmimg"" J.of Soc.Naval Architects of Japan. Vol.181. 205-212 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Ura, T.Obara: ""Sea Trials of AUV" R-one Robot"Equipped with a Closed Cycle Diesel Engine System"" Proc.Oceans'97. Vol.2 of 2. 987-993 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Obara, T.Ura: ""Development of Autonomous Underwater Vehicle "R-One Robot" "" Techno Marine. Vol.816. 398-399 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Ura, T.Obara: ""Divings of Cruising Type Autonomous Underwater Vehicle "R-One Robot" off Tanabe City and Observation of Sea Water"" J.of Japan Soc Marine SSurvey Technology. Vol.9, No.1. 15-22 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] M.Zhang, T.Ura: ""Motion Optimization of Autonomous Underwater Vehicles by Genetic Algorithm"" J.of Soc.Naval Architects of Japan. Vol.182. 491-497 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] W.Lam, T.Ura: ""Non-Linear Controller of Non-Crusing AUV for Tracking 3 dimensional Grajectory"" J.of Soc.Naval Architects of Japan. Vol.180. 677-684 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Ishii, T.Ura, F.Fujii, Y.Nose: ""Identification of Motion of Underwater Robot with Neural Network (3rd Report : Adaptation to Environment by Learning Disturbances) "" J.of Soc.Naval Architects of Japan. Vol.182. 469-479 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] M.Takai, T.Ura: ""A Model Based Self Diagnosis System for Autonomous Underwater Vehicle using Artificial Neural Networks"" J.of Soc.Naval Architects of Japan. Vol.180. 685-693 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Aramaki, T.Ura: ""World Modeling of a Wreck by an Underwater RObot"" J.of Soc.Naval Architects of Japan. Vol.182. 481-490 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Ura and S.Takagawa ed.: Underwater Robots. Seizando-Shoten, 309 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 荒牧・浦: "水中ロボットによる沈没船周辺のワールドモデルの自動構築" 日本造船学会論文集. 182. 481-490 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] B.A.A.Pバラスリヤ、浦 環: "Vision Based Object Following for Underwater Velticles" 日本造船学会論文集. Vol.180. 663-668 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 林 雲聰、浦 環: "非航行型海中ロボットの3次元トラッキング行動のための非線形制御" 日本造船学会論文集. Vol.180. 677-684 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 高井 基行、浦 環: "ニューラルネットワークによる自律型海中ロボットの自己診断システム" 日本造船学会論文集. Vol.180. 685-693 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 須藤 拓、浦 環: "小型航行型海中ロボット開発と定高度航行の訓練" 日本造船学会論文集. Vol.181. (1997)

    • Related Report
      1996 Annual Research Report
  • [Publications] 荒牧浩二: "海中ロボット研究のための汎用仮想海中環境シミュレータMVS" 生産研究. 47. 621-624 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 荒牧浩二: "海中ロボットによる局所詳細地形図作成と軌道計画" 生産研究. 47. 617-620 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 荒牧浩二: "自律型海中ロボット用海中環境シミュレータ" 第13回日本ロボット学会学術講演会予稿集. 2. 557-558 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 黒田洋司: "A Hybrid Environment for Development of Urderwater Mechatronto Systems" Proc. IECON'95. 173-178 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 黒田洋司: "実仮想世界の合成による自律移動ロボットの研究開発手法" 第13回日本ロボット学会学術講演会予稿集. 1. 161-162 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 黒田洋司: "ネットワーク分散処理による海中ロボット用海中環境シミュレータ" 日本造船学会論文集. 178. 667-674 (1995)

    • Related Report
      1995 Annual Research Report

URL: 

Published: 1995-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi