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Development of an observation system using an ROV with a passive link mechanism and an ASV with cable tension control system

Research Project

Project/Area Number 18K04586
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 24020:Marine engineering-related
Research InstitutionNagasaki Institute of Applied Science

Principal Investigator

Sato Masanori  長崎総合科学大学, 工学研究科, 准教授 (10709067)

Project Period (FY) 2018-04-01 – 2022-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2020: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2019: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2018: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Keywords水中ロボット / ROV / ASV / モザイク画像 / 海中ロボット / 受動リンク機構 / 遺伝的アルゴリズム
Outline of Final Research Achievements

The goal is to develop a simple, real-time observation system that can show the status of a vessel's bottom and identify the location of abnormalities. Since radio waves cannot reach underwater, wired communication is necessary to obtain real-time images. Therefore, a remotely operated vehicle (ROV) and an autonomous surface vehicle (ASV) will be used in cooperation.
In this project, automatic observation of a test tank that imitates the bottom of a ship was conducted using an ROV. In addition, the bottom of a floating pier was observed in the actual sea area. Furthermore, we developed an ASV that can move in omni-directions at sea and is robust to wave motion.

Academic Significance and Societal Importance of the Research Achievements

本研究で開発した観測システムは、簡便でリアルタイムに船底の状況を提示する基盤技術になると期待される。従来の船底の調査は、港湾係留時にダイバーによる手作業、或いは定期検査時のメンテナンスとなる。そのためフジツボなどの付着による燃費の低下が発生している。そこで、運用が容易でリアルタイムに船底の状況を提示でき、異常個所の位置を特定可能な観測システムによって、安全かつ環境への影響を考慮した船舶の運用へとつながる。

Report

(5 results)
  • 2021 Annual Research Report   Final Research Report ( PDF )
  • 2020 Research-status Report
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (8 results)

All 2021 2020 2019 2018 Other

All Presentation (7 results) (of which Int'l Joint Research: 2 results) Remarks (1 results)

  • [Presentation] Semi-Submersible型洋上自律探査機の開発と評価(第2報)2021

    • Author(s)
      七條大樹,濱口和也,佐藤雅紀
    • Organizer
      ロボティクス・メカトロニクス講演会'21講演論文集
    • Related Report
      2021 Annual Research Report
  • [Presentation] Development of a semi-submersible autonomous surface vehicle for cooperating with remotely operated vehicle2021

    • Author(s)
      Taiki Shichijo, Kazuya Hamaguchi, Masanori Sato
    • Organizer
      The 26th International Symposium on Artificial Life and Robotics 2021(AROB 26th 2021)
    • Related Report
      2021 Annual Research Report 2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Semi-Submersible 型洋上自律探査機の開発と評価2020

    • Author(s)
      七條大樹,濱口和也,佐藤雅紀
    • Organizer
      第21回システムインテグレーション部門講演会(SI2020)
    • Related Report
      2020 Research-status Report
  • [Presentation] Semi-Submersible型洋上自律探査機の開発2020

    • Author(s)
      七條大樹,濱口和也,佐藤雅紀
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] Development of an autonomous surface vehicle for an observation a bottom of ship2020

    • Author(s)
      Taiki Shichijo, Kazuya Hamaguchi, Masanori Sato
    • Organizer
      The 25th International Symposium on Artificial Life and Robotics 2020
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] 潮流下稼働可能型海中ロボットの開発(第1報)2019

    • Author(s)
      野瀬幹夫,木下健,平山哲朗,古野弘志,京円太亮,佐藤雅紀
    • Organizer
      日本船舶海洋工学会講演論文集
    • Related Report
      2019 Research-status Report
  • [Presentation] 潮流環境下で用いる凧型海中ロボットの試作2018

    • Author(s)
      佐藤雅紀,渕上和輝,七條大樹,中山雄樹
    • Organizer
      ロボティクス・メカトロニクス講演会'18
    • Related Report
      2018 Research-status Report
  • [Remarks] 研究室ホームページ

    • URL

      http://www.it.nias.ac.jp/sato/

    • Related Report
      2021 Annual Research Report

URL: 

Published: 2018-04-23   Modified: 2023-01-30  

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