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High-speed wide area of shallow seabed 3D map creation using towed underwater robot

Research Project

Project/Area Number 18K04073
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionOkinawa National College of Technology

Principal Investigator

Takemura Fumiaki  沖縄工業高等専門学校, 機械システム工学科, 教授 (70455187)

Co-Investigator(Kenkyū-buntansha) 坂上 憲光  東海大学, 海洋学部, 教授 (20373102)
高橋 悟  香川大学, 創造工学部, 教授 (50297579)
Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2020: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords海洋探査 / 曳航型水中ロボット / 3D地図 / 海底3D地図 / 水中ロボット / 曳航型
Outline of Final Research Achievements

A towed underwater robot is used to collect seafloor photographs over a wide area at high speed. 3D mapping of the seafloor is useful data for academic and practical understanding. One of the monitoring methods in the shallow waters of coral reefs is the manta-method for towing divers. The manta-method can be carried out inexpensively using conventional equipment such as small boats, digital cameras, and divers' air tanks. However, the dive time and depth are restricted according to the rules for safety. The towed underwater robot by a small ship, which is the proposed method, can reduce the burden on humans such as divers and eliminate the danger because the underwater robot is towed by a ship. By towing at a towing speed of approx. 1.21 m/s, we were able to create a 3D map of the seafloor with a width of approx. 10 m and a length of approx. 20 m.

Academic Significance and Societal Importance of the Research Achievements

本提案手法は従来,ダイバーで行われていたマンタ法を水中ロボットで行えることを示した.従来の手法は人手で行われているため,肉体的負担・危険性を伴っていたが,本手法はその除去を行うことができる手法である.また,曳航型水中ロボットを使うことで高速に広域の海底の情報収集を行うことができる.これは,従来の人手で行っていた手法より,安価・短時間で情報収集を行え,海底3D地図を定期的に取得できる可能性を示した.定期的に海中の情報を収集することで,海で何が起きているのか,我々にどのようなことが起きるのか,持続可能な社会のためにどのようはことが必要とされるか,に繋がる気づきを与えると考える.

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (10 results)

All 2021 2020 2019 2018

All Journal Article (3 results) (of which Peer Reviewed: 1 results) Presentation (7 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] Development and Field Experiment of a Human-portable Towed ROV for High-Speed and Wide Area Data Acquisition2021

    • Author(s)
      Norimitsu Sakagami, Keita Hirayama, Ryo Taba, Shota Kobashigawa, Seita Arashiro Fumiaki Takemura and Satoru Takahashi
    • Journal Title

      Artificial Life and Robotics

      Volume: 26 Pages: 1-9

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 考古アカデミックレポート:水中考古学における広域・詳細調査へのロボット技術の適用2020

    • Author(s)
      武村史朗,坂上憲光
    • Journal Title

      考古学ジャーナル(2020年9月号)

      Volume: 744 Pages: 31-33

    • NAID

      40022398417

    • Related Report
      2020 Annual Research Report
  • [Journal Article] 沖縄近海における水中ロボティクスの活用2019

    • Author(s)
      武村史朗,坂上憲光
    • Journal Title

      日本AEM学会誌

      Volume: 26 Pages: 516-521

    • NAID

      130007607862

    • Related Report
      2019 Research-status Report
  • [Presentation] 海底画像を用いた水中ロボットの自己位置推定の検討2020

    • Author(s)
      喜納勝海,武村史朗,坂上憲光,高橋悟,相良慎一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] 海底データ3次元形状復元手法2019

    • Author(s)
      廣瀬諒,高橋悟,川端邦明,坂上憲光,武村史朗
    • Organizer
      計測動制御学会第20回システムインテグレーション部門講演会2019講演論文集
    • Related Report
      2019 Research-status Report
  • [Presentation] 曳航型水中ロボットの性能改善2019

    • Author(s)
      武村史朗,小橋川翔大,新城成大,坂上憲光,高橋悟,相良真一
    • Organizer
      計測動制御学会第20回システムインテグレーション部門講演会2019講演論文集
    • Related Report
      2019 Research-status Report
  • [Presentation] 水中ロボットのための超音波を利用した高度計測装置2019

    • Author(s)
      新城成大,武村史朗,坂上憲光,高橋悟
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会2019講演論文集
    • Related Report
      2019 Research-status Report
  • [Presentation] Preliminary experiment of a small towed underwater vehicle for high-speed and wide area data acquisition2019

    • Author(s)
      Norimitsu Sakagami, Fumiaki Takemura, and Satoru Takahashi
    • Organizer
      The Twenty-Forth International Symposium on Artificial Life and Robotics 2019
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] 海底3D地図作成を目的とした曳航型水中ロボットによる画像データ取得の高速化・広域化2018

    • Author(s)
      武村史朗,坂上憲光,高橋悟,山舩晃太郎
    • Organizer
      第36回日本ロボット学会学術講演会2018
    • Related Report
      2018 Research-status Report
  • [Presentation] 曳航型水中ロボットの操作改善2018

    • Author(s)
      小橋川翔大,武村史朗,川端邦明,相良慎一,小笠原敬
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会2018
    • Related Report
      2018 Research-status Report

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Published: 2018-04-23   Modified: 2022-01-27  

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