| Project/Area Number |
24560986
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Naval and maritime engineering
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| Research Institution | Tokyo University of Marine Science and Technology |
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Principal Investigator |
Zhang Feifei 東京海洋大学, その他部局等, 教授 (10226293)
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| Co-Investigator(Renkei-kenkyūsha) |
Watanabe Yoshitaka 海洋研究開発機構, 海洋工学センター, 研究員 (40359138)
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| Project Period (FY) |
2012-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2013: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2012: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 水中ロボット / 音響測位 / 伝搬減衰 / センサーネットワーク / GPS / タイムリバーサル通信 / 全方位型ﾄﾗﾝｽﾃﾞｭｰｻ / 運動制御 / 高精度 / 低価格 / 水中音響測位 / リアルタイム / 小型軽量低価格 |
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| Outline of Final Research Achievements |
We developed a new positioning system for under water robot which has easy operation and high accuracy. The principal is depending on a following fact that a power of sound decrease with distance of transition so we can know the distance between sauce and receiver with measuring difference of power of sound. When robot send a sound of constant amplitude and frequency, and measure the sound at a station, we can get the distance between robot and station. With using at least four(4) stations which are floated at surface of water and the position are measured with GPS, we can decide the robot position with 1% of accuracy in the field of 1km square. With accepting this position data, autonomous robot can complete his mission precisely.
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