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Research on optimal body form and control method of underwater vehicle following submarine geographical feature

Research Project

Project/Area Number 20360395
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Naval and maritime engineering
Research InstitutionKyushu University

Principal Investigator

NAKAMURA Masahiko  Kyushu University, 応用力学研究所, 准教授 (40155859)

Co-Investigator(Kenkyū-buntansha) KOTERAYAMA Wataru  九州大学, 応用力学研究所, 名誉教授 (80038562)
KAJIWARA Hiroyuki  九州大学, 大学院・工学研究院, 教授 (30114862)
HU Changhong  九州大学, 応用力学研究所, 准教授 (20274532)
HYAKUDOME Tadahiro  海洋研究開発機構, 海洋工学センター, 技術研究主任 (90359133)
NISHI Yoshiki  横浜国立大学, 大学院・工学研究院, 准教授 (70470052)
Project Period (FY) 2008 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥18,980,000 (Direct Cost: ¥14,600,000、Indirect Cost: ¥4,380,000)
Fiscal Year 2010: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2009: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2008: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
Keywords海洋探査・機器 / 運動制御 / 海中ビークル / 海底地形追従 / 制御工学 / 最適形状 / 知能ロボティック
Research Abstract

The body form design of a underwater vehicle following a submarine geographical feature was carried out by using the CFD(Computational Fluid Dynamics) technique, and the accuracy of the calculated hydrodynamic forces were verified by model tests. Furthermore, the performance of the vehicle was discussed by motion simulations. The motion control method was also examined by field experiments on small AUV(Autonomous Underwater Vehicle).

Report

(4 results)
  • 2010 Annual Research Report   Final Research Report ( PDF )
  • 2009 Annual Research Report
  • 2008 Annual Research Report
  • Research Products

    (33 results)

All 2011 2010 2009 2008

All Journal Article (19 results) (of which Peer Reviewed: 12 results) Presentation (14 results)

  • [Journal Article] 海洋観測用シャトル型ロボットに働く流体力に関する研究2011

    • Author(s)
      中村昌彦、浅川賢一、百留忠洋
    • Journal Title

      日本海洋工学会・日本船舶海洋工学会第22回海洋工学シンポジウム

      Volume: (CD-R)

    • Related Report
      2010 Annual Research Report
  • [Journal Article] 小型AUV"MR-X1"の測線上航走性能向上に関する研究2010

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、石橋正二郎、青木太郎
    • Journal Title

      日本船舶海洋工学会論文集 第12号

      Pages: 165-173

    • NAID

      130001333128

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 小型AUV「MR-X1」の実海域試験-その1針路制御試験-2010

    • Author(s)
      中村昌彦、石橋正二郎、百留忠洋、吉田弘、青木太郎
    • Journal Title

      日本船舶海洋工学会講演会論文集 第11号

      Pages: 341-344

    • NAID

      40020067313

    • Related Report
      2010 Final Research Report
  • [Journal Article] New Attempts in the MR-X1 Sea-Trials-The Working AUV Tries to Survey of the Sea Floor and Take Mud Samples2010

    • Author(s)
      吉田弘, 百留忠洋, 石橋正二郎, 澤隆雄, 中村昌彦
    • Journal Title

      Proc.of the ASME 29^<th> Int.Conf.on Ocean, Offshore and Arctic Engineering

      Pages: 1-5

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Motion Control of AUV "MR-X1" for Following Observation Line2010

    • Author(s)
      中村昌彦, 百留忠洋, 吉田弘, 石橋正二郎, 青木太郎
    • Journal Title

      Proc.of the 20^<th> Int.Offshore and Polar Engineering Conf. Vol.2

      Pages: 406-412

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Motion Control of AUV "MR-X1" for Following Observation Line2010

    • Author(s)
      M.Nakamura, T.Hyakudome, H.Yoshida, S.Ishibashi, T.Aoki
    • Journal Title

      Proc.of the 20^<th> Int.Offshore and Polar Engineering Conference

      Volume: Vol.2 Pages: 406-412

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] New Attempts in the MR-X1 Sea-Trials-The Working AUV Tries to Survey of the Sea Floor and Take Mud Samples2010

    • Author(s)
      H.Yoshida, T.Hyakudome, S.Ishibashi, T.Sawa, M.Nakamura
    • Journal Title

      Proc.of the ASME 29^<th> Int.Conference on Ocean, Offshore and Arctic Engineering

      Pages: 1-5

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 小型AUV「MR-X1」の実海域試験-その1 針路制御試験-2010

    • Author(s)
      中村昌彦、石橋正二郎、百留忠洋、吉田弘、青木太郎
    • Journal Title

      日本船舶海洋工学会講演会論文集

      Volume: 第11号 Pages: 341-344

    • NAID

      40020067313

    • Related Report
      2010 Annual Research Report
  • [Journal Article] Study of Hydrodynamic Force Acting on an Underwater Vehicle2010

    • Author(s)
      S.Kishima, M.Nakamura, T.Hyakudome
    • Journal Title

      Proc.of the 12^<th> Cross Straits Symposium

      Volume: (CD-R)

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 小型AUV"MR-X1"の測線上航走性能向上に関する研究2010

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、石橋正二郎、青木太郎
    • Journal Title

      日本船舶海洋工学会論文集

      Volume: 第12号 Pages: 165-173

    • NAID

      130001333128

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 小型AUV「MR-X1」の制御性能向上に関する研究2009

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、石橋正二郎、青木太郎
    • Journal Title

      日本船舶海洋工学会講演会論文集 第9E号

      Pages: 175-178

    • Related Report
      2010 Final Research Report 2009 Annual Research Report
  • [Journal Article] 小型AUV"MR-X1"のスラスターによる運動制御2009

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、青木太郎
    • Journal Title

      日本船舶海洋工学会論文集 第9号

      Pages: 139-153

    • NAID

      110007341098

    • Related Report
      2010 Final Research Report 2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Path Control of AUV "MR-X1" using Thrusters2009

    • Author(s)
      中村昌彦, 百留忠洋, 吉田弘, 青木太郎
    • Journal Title

      Proc.of the 19^<th> Int.Offshore and Polar Engineering Conf. Vol.2

      Pages: 657-664

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 小型AUV「MR-X1」の経路制御2009

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、青木太郎
    • Journal Title

      日本船舶海洋工学会講演会論文集 第8号

      Pages: 29-32

    • Related Report
      2009 Annual Research Report
  • [Journal Article] Path Control of AUV "MR-X1" using Thrusters2009

    • Author(s)
      M.Nakamura, T.Hyakudome, H.Yoshida, T.Aoki
    • Journal Title

      Proc. of the 19^<th> Int. Offshore and Polar Engineering Conference Vol. 2

      Pages: 657-664

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Maneuverability Experiments of AUV2008

    • Author(s)
      T.Hyakudome, M.Nakamura, S.Tsukioka, H.Yoshida, A.Ishikawa, T.Sawa, S.Ishibashi, H.Nakajoh, J.Ishiwata, T.Aoki
    • Journal Title

      Proc.of the 18th Int.Offshore and Polar Engineering Conf. Vol.2

      Pages: 389-393

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 数式モデル構築のための自律型無人潜水機の実運動特性試験2008

    • Author(s)
      百留忠洋、中村昌彦、月岡哲、石川暁久、澤隆雄, 他5名
    • Journal Title

      日本船舶海洋工学会講演会論文集 第6号

      Pages: 461-464

    • Related Report
      2010 Final Research Report
  • [Journal Article] 数式モデル構築のための自律型無人潜水機の実運動特性試験2008

    • Author(s)
      百留 忠洋, et. al.
    • Journal Title

      日本船舶海洋工学会講演会論文集 第6号

      Pages: 461-464

    • Related Report
      2008 Annual Research Report
  • [Journal Article] Maneuverability Experiments of AUV2008

    • Author(s)
      T. Hyakudome, et. al.
    • Journal Title

      Proc. of the 18^<th> Int. Offshore and Polar Engineering Conference Vol. 2

      Pages: 389-393

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] 海洋観測用シャトル型ロボットに働く流体力に関する研究2011

    • Author(s)
      中村昌彦、浅川賢一、百留忠洋
    • Organizer
      日本海洋工学会・日本船舶海洋工学会第22回海洋工学シンポジウム
    • Place of Presentation
      東京
    • Related Report
      2010 Annual Research Report
  • [Presentation] 小型AUV「MR-X1」の実海域試験-その1針路制御試験-2010

    • Author(s)
      中村昌彦、石橋正二郎、百留忠洋、吉田弘、青木太郎
    • Organizer
      平成22年日本船舶海洋工学会秋季講演会
    • Place of Presentation
      佐世保
    • Related Report
      2010 Final Research Report
  • [Presentation] New Attempts in the MR-X1 Sea-Trials-The Working AUV Tries to Survey of the Sea Floor and Take Mud Samples2010

    • Author(s)
      H.Yoshida, T.Hyakudome, S.Ishibashi, T.Sawa, M.Nakamura
    • Organizer
      The ASME 29^<th> Int.Conf.on Ocean, Offshore and Arctic Engineering
    • Place of Presentation
      上海(中国)
    • Related Report
      2010 Final Research Report
  • [Presentation] Motion Control of AUV "MR-X1" for Following Observation Line2010

    • Author(s)
      中村昌彦, 百留忠洋, 吉田弘, 石橋正二郎, 青木太郎
    • Organizer
      The 20^<th> Int.Offshore and Polar Engineering Conf.
    • Place of Presentation
      北京(中国)
    • Related Report
      2010 Final Research Report
  • [Presentation] Motion Control of AUV "MR-X1" for Following Observation Line2010

    • Author(s)
      M.Nakamura, T.Hyakudome, H.Yoshida, S.Ishibashi, T.Aoki
    • Organizer
      The 20^<th> Int.Offshore and Polar Engineering Conference
    • Place of Presentation
      北京(中国)
    • Related Report
      2010 Annual Research Report
  • [Presentation] New Attempts in the MR-X1 Sea-Trials-The Working AUV Tries to Survey of the Sea Floor and Take Mud Samples2010

    • Author(s)
      H.Yoshida, T.Hyakudome, S.Ishibashi, T.Sawa, M.Nakamura
    • Organizer
      The ASME 29^<th> Int.Conference on Ocean, Offshore and Arctic Engineering
    • Place of Presentation
      上海(中国)
    • Related Report
      2010 Annual Research Report
  • [Presentation] 小型AUV「MR-X1」の実海域試験-その1 針路制御試験-2010

    • Author(s)
      中村昌彦、石橋正二郎、百留忠洋、吉田弘、青木太郎
    • Organizer
      日本船舶海洋工学会秋季講演会
    • Place of Presentation
      佐世保
    • Related Report
      2010 Annual Research Report
  • [Presentation] Study of Hydrodynamic Force Acting on an Underwater Vehicle2010

    • Author(s)
      S.Kishima, M.Nakamura, T.Hyakudome
    • Organizer
      The 12^<th> Cross Straits Symposium
    • Place of Presentation
      韓国
    • Related Report
      2010 Annual Research Report
  • [Presentation] 小型AUV「MR-X1」の制御性能向上に関する研究2009

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、石橋正二郎、青木太郎
    • Organizer
      平成21年日本船舶海洋工学会東部支部秋季講演会
    • Place of Presentation
      東京
    • Related Report
      2010 Final Research Report
  • [Presentation] Path Control of AUV "MR-X1" using Thrusters2009

    • Author(s)
      中村昌彦, 百留忠洋, 吉田弘, 青木太郎
    • Organizer
      The 19^<th> Int.Offshore and Polar Engineering Conf.
    • Place of Presentation
      大阪
    • Related Report
      2010 Final Research Report
  • [Presentation] 小型AUV「MR-X1」の経路制御2009

    • Author(s)
      中村昌彦、百留忠洋、吉田弘、青木太郎
    • Organizer
      平成21年日本船舶海洋工学会春季講演会
    • Place of Presentation
      神戸
    • Related Report
      2010 Final Research Report
  • [Presentation] 小型AUV「MR・X1」の経路制御2009

    • Author(s)
      中村昌彦
    • Organizer
      日本船舶海洋工学会
    • Place of Presentation
      神戸市
    • Related Report
      2009 Annual Research Report
  • [Presentation] Path Control of AUV "MR-X1" using Thrusters2009

    • Author(s)
      M.Nakamura
    • Organizer
      Int. Offshore and Polar Engineering Conference
    • Place of Presentation
      大阪市
    • Related Report
      2009 Annual Research Report
  • [Presentation] 小型AUV「MR-X1」の制御性能向上に関する研究2009

    • Author(s)
      中村昌彦
    • Organizer
      日本船舶海洋工学会
    • Place of Presentation
      熊本県・荒尾市
    • Related Report
      2009 Annual Research Report

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Published: 2008-04-01   Modified: 2016-04-21  

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