| Project/Area Number |
11355038
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
海洋工学
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| Research Institution | The University of Tokyo |
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Principal Investigator |
URA Tamaki Institute of Industrial Science, The University of Tokyo, Professor, 生産技術研究所, 教授 (60111564)
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| 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)
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| Project Period (FY) |
1999 – 2001
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| Project Status |
Completed (Fiscal Year 2001)
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| 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)
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| Keywords | Autonomous 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 |
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| 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.
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