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Research on Motion Control of Disk Type Underwater Glider

Research Project

Project/Area Number 26289335
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Naval and maritime engineering
Research InstitutionKyushu University

Principal Investigator

Nakamura Masahiko  九州大学, 応用力学研究所, 准教授 (40155859)

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)
Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
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)
Keywords円盤型水中グライダー / 運動制御 / 模型実験 / 実海域試験
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.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Annual Research Report
  • 2014 Annual Research Report
  • Research Products

    (19 results)

All 2017 2016 2015

All Journal Article (10 results) (of which Peer Reviewed: 4 results,  Acknowledgement Compliant: 4 results) Presentation (9 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] 円盤型水中グライダーの針路保持性能向上に関する研究2017

    • Author(s)
      中村 昌彦、石丸 隆宏、小寺山 亘、松村 直也
    • Journal Title

      日本船舶海洋工学会/日本海洋工学会 第26回海洋工学シンポジウム講演論文集

      Pages: 1-7

    • Related Report
      2016 Annual Research Report
    • Acknowledgement Compliant
  • [Journal Article] Sea Trials of an Underwater Glider for Long-term Virtual Mooring2016

    • Author(s)
      K.Asakawa, M.Nakamura, T.Hyakudome and Y.Ishihara
    • Journal Title

      Proc. of the 26th Int. Offshore and Polar Engineering Conference

      Volume: 2 Pages: 585-589

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of Underwater Glider for Long-term Virtual Mooring2016

    • Author(s)
      K.Asakawa, M.Nakamura, Y.Maeda, T.Hyakudome and Y.Ishihara
    • Journal Title

      Proc. of Techno-Ocean 2016

      Pages: 419-424

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Landing-sleep and Drifting-sleep Experiments of the Underwater Glider for Long-term Observation2016

    • Author(s)
      K.Asakawa, M.Nakamura, Y.Maeda, T.Hyakudome and Y.Ishihara
    • Journal Title

      Proc. of AUV 2016

      Pages: 246-250

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Development of Disk Type Underwater Glider for Virtual Mooring2016

    • Author(s)
      中村 昌彦、伊藤 譲、小寺山 亘、野田 穣士朗、森井 康宏、山脇 信博、清水 健一、
    • Journal Title

      Journal of the Japan Society of Naval Architects and Ocean Engineers

      Volume: 24 Issue: 0 Pages: 241-249

    • DOI

      10.2534/jjasnaoe.24.241

    • NAID

      130005243440

    • ISSN
      1880-3717, 1881-1760
    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] バーチャルモアリング用円盤型水中グラーダーの開発-針路制御模型実験-2015

    • Author(s)
      中村 昌彦、松元 遼太、松村 直也
    • Journal Title

      日本船舶海洋工学会講演会論文集

      Volume: 20 Pages: 533-536

    • Related Report
      2015 Annual Research Report
    • Acknowledgement Compliant
  • [Journal Article] Research of Gliding Performance of the Plesiosaurus2015

    • Author(s)
      K.Matsuoka, M.Nakamura, H.Nishi, S.Mochizuki, T.Ueda and K.Sawada
    • Journal Title

      Proc. of the 25th Int. Offshore and Polar Engineering Conference

      Volume: 2 Pages: 502-509

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed
  • [Journal Article] バーチャルモアリング用円盤型水中グラーダーの開発-水中グライダーによる海洋観測-2015

    • Author(s)
      中村 昌彦、伊藤 譲、小寺山 亘、野田 穣士朗、兼原 壽生、山脇 信博、松野 健
    • Journal Title

      日本船舶海洋工学会講演会論文集

      Volume: 21 Pages: 347-352

    • Related Report
      2015 Annual Research Report
    • Acknowledgement Compliant
  • [Journal Article] バーチャルモアリング用シャトル型水中グライダーの開発-実海域試験データを使用した運動シミュレーション-2015

    • Author(s)
      中村 昌彦、浅川 賢一、百留 忠洋、石原 靖久
    • Journal Title

      日本船舶海洋工学会論文集

      Volume: 22 Pages: 217-228

    • NAID

      130005128595

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed
  • [Journal Article] バーチャルモアリング用円盤型水中グライダーの開発―針路制御模型実験―2015

    • Author(s)
      中村昌彦、松元遼太、松村直也
    • Journal Title

      日本船舶海洋工学会講演会論文集

      Volume: 20

    • NAID

      40020807808

    • Related Report
      2014 Annual Research Report
  • [Presentation] 円盤型水中グライダーの針路保持性能向上に関する研究2017

    • Author(s)
      中村 昌彦、石丸 隆宏、小寺山 亘、松村 直也
    • Organizer
      第26回海洋工学シンポジウム
    • Place of Presentation
      日本・東京
    • Year and Date
      2017-03-06
    • Related Report
      2016 Annual Research Report
  • [Presentation] 長頸竜類の横方向滑空遊泳性能に関する研究2016

    • Author(s)
      松岡 晃史、中村 昌彦、西 弘嗣、望月 直、植田 剛史
    • Organizer
      日本船舶海洋工学会
    • Place of Presentation
      日本・岡山
    • Year and Date
      2016-11-21
    • Related Report
      2016 Annual Research Report
  • [Presentation] Landing-sleep and Drifting-sleep Experiments of the Underwater Glider for Long-term Observation2016

    • Author(s)
      K.Asakawa, M.Nakamura, Y.Maeda, T.Hyakudome and Y.Ishihara
    • Organizer
      AUV 2016
    • Place of Presentation
      日本・東京
    • Year and Date
      2016-11-06
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of Underwater Glider for Long-term Virtual Mooring2016

    • Author(s)
      K.Asakawa, M.Nakamura, Y.Maeda, T.Hyakudome and Y.Ishihara
    • Organizer
      Techno-Ocean 2016
    • Place of Presentation
      日本・神戸
    • Year and Date
      2016-10-06
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Sea Trials of an Underwater Glider for Long-term Virtual Mooring2016

    • Author(s)
      K.Asakawa, M.Nakamura, T.Hyakudome and Y.Ishihara
    • Organizer
      The 26th Int. Offshore and Polar Engineering Conference
    • Place of Presentation
      ギリシャ・ロドス
    • Year and Date
      2016-06-26
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] バーチャルモアリング用円盤型水中グラーダーの開発-水中グライダーによる海洋観測-2015

    • Author(s)
      中村 昌彦
    • Organizer
      日本船舶海洋工学会
    • Place of Presentation
      日本・東京
    • Year and Date
      2015-11-16
    • Related Report
      2015 Annual Research Report
  • [Presentation] Research of Gliding Performance of the Plesiosaurus2015

    • Author(s)
      K.Matsuoka
    • Organizer
      25th Int. Offshore and Polar Engineering Conference
    • Place of Presentation
      アメリカ合衆国・ハワイ
    • Year and Date
      2015-06-21
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] バーチャルモアリング用円盤型水中グライダーの開発―針路制御模型実験―2015

    • Author(s)
      中村昌彦、松元遼太、松村直也
    • Organizer
      日本船舶海洋工学会
    • Place of Presentation
      神戸
    • Year and Date
      2015-05-25 – 2015-05-26
    • Related Report
      2014 Annual Research Report
  • [Presentation] バーチャルモアリング用円盤型水中グラーダーの開発-針路制御模型実験-2015

    • Author(s)
      中村 昌彦
    • Organizer
      日本船舶海洋工学会
    • Place of Presentation
      日本・神戸
    • Year and Date
      2015-05-25
    • Related Report
      2015 Annual Research Report

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Published: 2014-04-04   Modified: 2018-03-22  

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