Research on Motion Control of Disk Type Underwater Glider
| Project/Area Number |
26289335
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial 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 | Kyushu University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
清水 健一 長崎大学, 水産学部, 准教授 (20533946)
梶原 宏之 九州大学, 工学(系)研究科(研究院), 教授 (30114862)
小寺山 亘 九州大学, 応用力学研究所, 名誉教授 (80038562)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000)
Fiscal Year 2016: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2015: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2014: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
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| Keywords | 円盤型水中グライダー / 運動制御 / 模型実験 / 実海域試験 |
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| Outline of Final Research Achievements |
In recent years it has become evident that ocean data in time and space is required to make predictions of environmental changes on earth. As one method of acquiring data, we propose a virtual mooring system using an underwater glider, and have developed a disk type glider. However, since it is a disk type, rotational drag is small, and a special device to keep its course is required. In this research, the device which controls rotation of the vehicle was devised and the effect was verified by the motion simulation and model experiments. Furthermore, the controller which keeps the course by moving the center of gravity of the vehicle was designed, and the performance was verified by the motion simulation, model experiments and field experiments.
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Report
(4 results)
Research Products
(19 results)
