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STUDY ON A UNDERWATER VEHICLE FOR LOW SPEED GOOD MANEUVERING

Research Project

Project/Area Number 14205148
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field 海洋工学
Research InstitutionOSAKA UNIVERSITY

Principal Investigator

SUZUKI Toshio  OSAKA UNIVERSITY, DEPT. OF GLOBAL ARCHITECTURE, PROFESSOR, 大学院・工学研究科, 教授 (80029107)

Co-Investigator(Kenkyū-buntansha) TAKEMI Tetsuya  OSAKA UNIVERSITY, DEPT. OF GLOBAL ARCHITECTURE, ASSISTANT PROFESSOR, 大学院・工学研究科, 講師 (10314361)
TODA Yasuyuki  OSAKA UNIVERSITY, DEPT. OF GLOBAL ARCHITECTURE, ASSOCIATE PROFESSOR, 大学院・工学研究科, 助教授 (20172166)
KATO Naomi  OSAKA UNIVERSITY, DEPT. OF NAVAL ARCHITECTURE AND OOEAN ENG., PROFESSOR, 大学院・工学研究科, 教授 (00138637)
YUDA Noriko  YUGE NAT.COLLEGE OF MARITIME SCIENCE, DEPT. OF MARINE TECH, ASSISTANT PROFESSOR, 商船学科, 講師 (50332078)
SUZUKI Hiroyoshi  OSAKA UNIVERSITY, DEPT. OF NAVAL ARCHITECTURE AND OOEAN ENG., ASSISTANT PROFESSOR, 大学院・工学研究科, 講師 (00252601)
Project Period (FY) 2002 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥50,570,000 (Direct Cost: ¥38,900,000、Indirect Cost: ¥11,670,000)
Fiscal Year 2003: ¥23,920,000 (Direct Cost: ¥18,400,000、Indirect Cost: ¥5,520,000)
Fiscal Year 2002: ¥26,650,000 (Direct Cost: ¥20,500,000、Indirect Cost: ¥6,150,000)
Keywordsunder water vehicle / fish-like bode / undulating side fins / low speed motion / pectoral fins / marine environment / 6 degree of freedom motion / hydrodynamic force / 水中移動体模型 / 側ヒレ推進機構 / 推進性能 / 運動性能 / 推力測定実験
Research Abstract

Under water vehicles usually have the combination of propellers for their propulsion and maneuvering. Sometimes, the low-speed precise maneuvering is needed for observation of marine environment. But, the present under water vehicles are not suitable for that purpose. In this study, the undulating side fins that are used by a squid or a flat fish is investigated to examine that they are suitable for a low-speed under water vehicle. The fish-like body consists of the resistance body whose movement is small and two undulating fins as the propulsor. This system is expected to have the advantage for the change of movement direction and quick maneuvering without vertical motion in low speed region from the observation of a squid.. The laminar flow computation of the flow field around the simple model with two undulating side fins and resistance body was computed. The features of the flow field and hydrodynamic forces aging on the body and fins were discussed based on the computed results. T … More hese results provided good information for understanding the complex fluid mechanics that this type of fish uses to propel itself. The two models were constructed and used for preliminary experiments. The free-run tests, hydrodynamic force measurements and PTV(3D volumetric PTV) measurements for flow field were conducted. The computation between computations and experiments was carried out and the validity of the computation was shown.
Finally, the new model was constructed and experiments were done. The new model has the servo motor units to produce any fin's motion, servo controller and the motion control computer inside the model. So, it does not have the strut t or the big cable. The model has one thin cable that is connected to the floating wireless communication units to the remote computer on the ground for control of microcomputer inside the model. The model can run freely to any direction and change the angle around any axis. Firstly, the advance speed and the angular velocity of turning motion were measured. Secondly, the free-run test to follow the prescribed route was conducted. Next some basic fin's motions that make the 6 degrees of freedom motion are investigated. The results show very promising. Thrust measurements are conducted. In this result, the characteristics of propulsive forces are shown. The simple motion of new model is predicted by the solving equations of motion using the results of force measurements. The results were compared with free-run test results and good agreement, to some extent, was obtained.
The precise maneuvering control of the model with two pair of pectoral fins was also, studied. The results show promising results. Less

Report

(3 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • Research Products

    (21 results)

All Other

All Publications (21 results)

  • [Publications] Y.Toda, K.Fukui, T.Sugiguti: "Fundamental Study on Propulsion of a Fish-Like Body with Two Undulating Side Fins"Proc.of Asia-Pacific Workshop on Marine Hydrodynamics, Kobe, Japan. 227-232 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 加守田廣和, 佐々木智美, 福井忠之, 鈴木敏夫, 戸田保幸: "三色シート光を用いた多層同時計測法に関する研究"可視化情報. Vol.23, Suppl.No.1. 209-212 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, K.Fukui, S.Uto, N.Tanaka: "Fundamental Study on Swimming of a Fish-Like Body with Two Undulating Side Fins"Proceedings of the 2^<nd> International Symposium on Aqua Bio-Mechanisms, Honolulu, Hawaii, U.S.A.. (CD-ROM). (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 戸田保幸, 有藤慎平, 田中伸昌: "屈曲型側ヒレを持つ水中移動体に関する基礎的研究"日本造船学会講演論文集. 第2号. 71-72 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, S.Uto, T.Suzuki, N.Tanaka, H.Ikeda: "A Fundamental Experiment on The Motion of A Fish-Like Under-Water Vehicle with two Undulating Side Fine"Proc.of 2^<nd> Asia-Pacific Workshop on Marine Hydrodynamics, Busan, Korea. (CD-ROM). (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] N.Kto, Y.Ando, T.Shigetomi: "Precision Maneuvering of Biology-Inspired Underwater Vehicle"2004 IEEE International Symposium on Underwater Technology, Taipei, Taiwan. (CD-ROM). (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, K.Fukui, T.Sugiguti: "Fundamental Study on Propulsion of a Fish-Like Body with Two Undulating Side Fins"Proc. of Asia-Pacific Workshop on Marine Hydrodynamics, Kobe. 227-232 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] H.Kamoda, T.Sasaki, T.Suzuki.Y.Toda: "Some Applications of one Camera 3-Component PIV Measurement System"Proc. of Asia-Pacific Workshop on Marine Hydrodynamics Kobe. 73-78 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, Y.S.Lee, H.Sadakane: "Numerical Investigation of Hydrodynamic Forces Acting on a Ship Hull Under Lateral Low Speed Motion"Journal of Kansai Society of Naval Architects, Japan. No.238. 77-83 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] H.Kamoda, T.Sasaki, T.Fukui, T.Suzuki, Y.Toda: "A study on three dimensional velocimetry using three color sheets."Journal of Visualization Society of Japan. Vol.23, Suppl. No.1. 209-212 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, K.Fukui, S.Uto, N.Tanaka: "Fundamental Study on Swimming of a Fish-Like Body with Two Undulating Side Fins"Proceedings of the 2^<nd> International Symposium on Aqua Bio-Mechanisms, Honolulu, Hawaii, U.S.A.(2003)(CD-ROM). (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, S.Uto, N.Tanaka: "Fundamental study on the under water vehicle with two ubdulating side fins"Proc. of Meeting of Society of Naval Architects, Japan. Vol.2. 71-72 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, T.Suzniki, S.Uto, N.Tanaka: "Fundamental Study on a Fish-Like Body with Two Undulating Side Fins"Bio-mechanisms of Animals in Swimming and Flying (CD-ROM) Springer-Verlag. (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, S.Uto, T.Suzuki, N.Tanaka, H.Ikeda: "A Fundamental Experiment on The Motion of A Fish-Like Under-Water Vehicle with two Undulating Side Fins"Proc. of 2th Asia-Pacific Workshop on Marine Hydrodynamics, Busan, Korea(2004)(CD-ROM). (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] N.Kto, Y.Ando, T.Shigetomi: "Precision Maneuvering of Biology-Inspired Underwater Vehicle"2004 IEEE International Symposium on Underwater Technology Taipei, Taiwan(2004)(CD-ROM). (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Toda, K.Fukui, S.Uto, N.Tanaka: "FUNDAMENTAL STUDY ON SWIMMING OF A FISH-LIKE BODY WITH TWO UNDULATING SIDE FINS"Proc.of 2^<nd> ISABMEC, Honolulu, Hawaii, USA. (CD-ROM). (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 加守田廣和, 佐々木智美, 福井忠之, 鈴木敏夫, 戸田保幸: "三色シート光を用いた多層同時計測法に関する研究"可視化情報. VOL.23, Suppl.NO.1. 209-212 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 戸田保幸, 有藤慎平, 田中伸昌: "屈曲型側ヒレを持つ水中移動体に関する基礎的研究"日本造船学会講演論文集. 第2号. 71-72 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] N.Kto, Y.Ando, T.Shigetomi: "Precision Maneuvering of Biology-Inspired Underwater Vehicle"2004 IEEE International Symposium on Underwater Technology, Taipei, Taiwan. (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 戸田 保幸: "Fundamental Study on Propulsion of a Fish-Like Body with Undulating Side Fins"Proc.of ASIA PACIFIC WORKSHOP ON MARINE HYDRODYNAMICS, Kobe 2002. 227-232 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 戸田 保幸: "Numerical Investigations of Hydrodynamic Forces Acting on a Ship Hull under Lateral Low Motion"関西造船協会誌. 238. 77-83 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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