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Development of Underwater Robot System for Autonomous Survey of Underwater Eco-Systems

Research Project

Project/Area Number 11355038
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section展開研究
Research Field 海洋工学
Research InstitutionThe University of Tokyo

Principal Investigator

URA Tamaki  Institute of Industrial Science, The University of Tokyo, Professor, 生産技術研究所, 教授 (60111564)

Co-Investigator(Kenkyū-buntansha) GAMO Toshitaka  Hokkaido University, Graduate School of Science, Professor, 大学院・理学研究科, 教授 (70143550)
ISHII Kazuo  Kyushu Institnte of Technology, Computer Science and Systems, Associate Professor, 情報工学部, 助教授 (10291527)
KURODA Yoji  Meiji University, Department of Mechanical, Associate Professor, 理工学部, 助教授 (80281442)
NOSE Yoshiaki  Institnte of Industrial Scfcnce, The University of Tokyo, Thechnical Associate, 生産技術研究所, 助手 (10114604)
ASADA Akira  Institnte of Industrial Scfcnce, The University of Tokyo, Professor, 生産技術研究所, 教授 (60323648)
Project Period (FY) 1999 – 2001
Project Status Completed (Fiscal Year 2001)
Budget Amount *help
¥20,930,000 (Direct Cost: ¥19,400,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2001: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2000: ¥5,900,000 (Direct Cost: ¥5,900,000)
Fiscal Year 1999: ¥8,400,000 (Direct Cost: ¥8,400,000)
KeywordsAutonomous Underwater Vehicle / Underwater Vehicle / Lakewater / Autonomous Monitoring / Environment Monitoring / Plat-form / Lake Biwa / Test-bed / 自律型ロボット / 環境観測プラットフォーム / 自律ロボット / 画像認識 / 水環境保 / ランドマーク / ロボット
Research Abstract

We have been constructing an innovative system for autonomous survey of underwater eco-systems using autonomous underwater vehicles. In the third year of this project, we developed a navigation system which detects the range and angle of wall in front of the vehicle using a vision system associated with Laser pointers which are fitted at the fore part of the testbed vehicle "Tri-Dog 1". The vehicle moves sideway keeping a constant range and angle to the wall based on the positions of the reflecting points of the pointers. This demonstrates extremely high accuracy of positioning comparing to the system based on the acoustic system. In parallel with this development, we deployed "Tantan" which was constructed for lake survey, and examined its efficiency. Based on the operational results, the software system of Tantan was modified for better reliability.

Report

(4 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • 1999 Annual Research Report
  • Research Products

    (23 results)

All Other

All Publications (23 results)

  • [Publications] 熊谷道夫, 浦環, 榊原孝志, 野口正男, 佐々木学: "自律型湖水観測水中ロボットの開発"第33回ダム技術講演討論会講演集. 65-73 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 近藤逸人, 浦環, 能勢義昭: "Development of an Autonomous Underwater Vehicle "Tri-Dog" Toward Practical Use in Shallow Water"Journal of Robotics and. Vol.13,No.2. 205-211 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 熊谷道夫, 浦環, 榊原孝志, 佐々木学: "湖水観測水中ロボット「淡探」の開発…自律型水中ロボット(AUV)の仕様と運用成果報告…"建設の磯城化. No.614. 33-39 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 石井和男, 渡辺啓介, 浦環: "自律型海中ロボットを用いた珊瑚礁生態観測システムの開発(第1報:観測システムのコンセプト及び海中ロボットのシステム)"ロボティックス・メカトロニクス講演会'01講演集. (CD-Rom). 1A1-L5 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 黒田洋司, 小松雅和, 熊谷道夫, 浦環: "湖面環境計測用ソーラーロボット艇の設計と開発"設計工学. Vol.36,No.7. 317-322 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 平田武司, 黒田洋司: "湖面環境計測システムのための画像による障害物認識"日本ロボット学会学術講演会講演集. 465-466 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Tamaki Ura, Michio Kumagai, Takashi Sakakibara, Masao Noguchi, Manabu Sasaki: "Development of an Autonomous Underwater Vehicle for Lake Survey"Proc. 33th Dam Technology. 65-73 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Hayato Kondo, Tamaki Ura, Yoshiaki Nose: "Development of an Autonomous Underwater Vehicle "Tri-Dog" Toward Practical Use in Shallow Water"Journal of Robotics and Mechatronics. Vol.13, No.2. 205-211 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Michio Kumagai, Tamaki Ura, Takashi Sakakibara, Manabu Sasaki: "Development of an Autonomous Underwater Vehicle "Tantan" for Lake Survey - AUV's Spec. and Operations -"Kensetsu no Kikaika. No.614. 33-39 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Kazuo Ishii, Keisuke Watanabe, Tamaki Ura: "Development of coral reef monitoring system with autonomous underwater robot (1st report : concept of the monitoring system and robot system)"Proc. Robomec'01. CD-Rom, 1A1-15. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Yoji Kuroda, Masakazu Komatsu, Michio Kumagai, Tamaki Ura: "Design and Development of Autonomous Solar-Powered Surface Vehicle for Lake Environmental Survey"Design and Systems. Vol.36, No.7. 317-322 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takeshi Hirata, Yoji Kuroda: "Obstacle Recognition with Vision Processing for Lake-Surface Survey System"Proc. 19th Conference of the Robotics Society of Japan. 465-466 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 浦環, 熊谷道火, 榊原孝志, 野口正男, 佐々木学: "自律型湖水観測水中ロボットの開発"第33回ダム技術講演討論会講演集. 65-73 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 近藤逸人, 浦環, 能勢義昭: "Development of an Autonomous Underwater Vehicle "Tri-Dog"Toward Practical Use in Shallow Water"Journal of Robotics and Mechatronics. Vol 13, No.2. 205-211 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 熊谷道夫, 浦環, 榊原孝志, 佐々木学: "湖水観測水中ロボット「淡探」の開発-自律型水中ロボット(AUV)の仕様と運用成果報告-"建設の機械化. No.614. 33-39 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 石井和男, 渡辺啓介, 浦環: "自律型海中ロボットを用いた珊瑚礁生態観測システムの開発(第1報:観測システムのコンセプト及び海中ロボットのシステム)"ロボティックス・メカトロニクス講演会'01講演集. CD-ROM講演集. 1A1-L5 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 黒田洋司, 小松雅和, 熊谷道夫, 浦環: "湖面環境計測用ソーラーロボット艇の設計と開発"設計工学. Vol.36, No.7. 317-322 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 平田武司, 黒田洋司: "湖面環境計測システムのための画像による障害物認識"日本ロボット学会学術講演会. 465-466 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] B.A.A.P.Balasuriya,浦環: "Autonomous Target Tracking by Twin-Burger 2"2000 IEEE/RSJ Int.Conf. On Intelligent Robots and Systems. 849-854 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 柳善鉄,浦環,藤井輝夫: "Utilization of Artificial Signboard Landmarks for Navigation of Advanced Autonomous Underwater Vehicle"Proc.ICARCV 2000 CD-ROM. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 柳善鉄,浦環,藤井輝夫: "水中ランドマークを利用した水中ロボットの後方制御の研究"生産研究. Vol.52,No.5. 247-250 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 浦環、黒田洋司、熊谷道夫: "自律型ロボットシステムを用いた有害プランクトンの監視"関西水圏環境研究機構第12回公開シンポジウム「地球上で顕在化する有害有毒プランクトンの増加」講演集. 92-98 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] M. Kumagai, T. Ura: "New AUV designed for Lake Environment Monitoring"Proc. of UT2000. (2000)

    • Related Report
      1999 Annual Research Report

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Published: 1999-04-01   Modified: 2016-04-21  

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