Study on the position control of an underwater glider for ocean floor resources exploration

• Project/Area Number: 26289336
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Naval and maritime engineering
• Research Institution: Kyushu University
• Principal Investigator: Yamaguchi Satoru 九州大学, 工学研究院, 准教授 (00253542)
• Co-Investigator(Kenkyū-buntansha): 水永 秀樹 九州大学, 工学研究院, 准教授 (40226246)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥14,300,000 (Direct Cost: ¥11,000,000、Indirect Cost: ¥3,300,000); Fiscal Year 2017: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000); Fiscal Year 2016: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000); Fiscal Year 2015: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000); Fiscal Year 2014: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
• Keywords: 海底資源探査 / 自律探査システム / OBEM / 海中グライダー / 運動制御 / 海中ビークル / 海底資源 / 資源探査 / 水中ビークル

Outline of Final Research Achievements

A novel exploration method of ocean floor resources is expected for effective utilization of the ocean and the object area for the development expands to deeper sea area recently. An autonomous underwater glider which equips an OBEM (Ocean Bottom Electromagnetometer) for ocean floor resources explorations was proposed in this study. The autonomous vehicle has an ability to achieve a long term continuous resources exploration autonomously. The buoyancy and attitude control mechanism enable the vehicle to move to the next measurement point by gliding. The landing point for the measurement is precisely controlled by the motion control system.
Developed gliding performance of the vehicle was investigated by tank and field experiments. The mathematical model of the vehicle motion was proposed based on the study and numerical calculations were carried out to design the motion control system for the autonomous underwater glider for OBEM measurement.

Research Products

• [Journal Article] Gliding Performance of an Underwater Glider for Ocean Floor Resources Exploration (2018)
  • Author(s): Satoru Yamaguchi, Hirofumi Sumoto, Ryota Sakamoto, Ryo Nogami
  • Journal Title: Proceedings of the International Offshore and Polar Engineering Conference Volume: 28
  • Peer Reviewed / Open Access
• [Journal Article] Development of an Autonomous OBEM Measurement Vehicle for Offshore Resources Exploration (2017)
  • Author(s): Satoru Yamaguchi, Hirofumi Sumoto, Taishiro Katsu and Yasuki Kono
  • Journal Title: Proceedings of the International Offshore and Polar Engineering Conference Volume: 27
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Preliminary Design of an Underwater Glider for Ocean Floor Resources Exploration (2016)
  • Author(s): S Yamaguchi, H Mizunaga, T Katsu, S Nakamuta and Y Kono
  • Journal Title: Proceedings of the International Offshore and Polar Engineering Conference Volume: 26
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] 海底資源探査用グライダー型ビークルの機体計画 (2015)
  • Author(s): 山口 悟，山本 鷹，中牟田 賢，勝 泰史朗
  • Journal Title: 日本船舶海洋工学会講演会論文集 Volume: 21 Pages: 353-354
  • Acknowledgement Compliant
• [Presentation] Gliding Performance of an Underwater Glider for Ocean Floor Resources Exploration (2018)
  • Author(s): Satoru Yamguchi
  • Organizer: International Offshore and Polar Engineering Conference
  • Int'l Joint Research
• [Presentation] Development of an Autonomous OBEM Measurement Vehicle for Offshore Resources Exploration (2017)
  • Author(s): Satoru Yamaguchi
  • Organizer: International Offshore and Polar Engineering Conference
  • Place of Presentation: San Francisco, USA
  • Int'l Joint Research
• [Presentation] Preliminary Design of an Underwater Glider for Ocean Floor Resources Exploration (2016)
  • Author(s): S Yamaguchi
  • Organizer: International Offshore and Polar Engineering Conference
  • Place of Presentation: Rhodes, Greece
  • Year and Date: 2016-06-30
  • Int'l Joint Research
• [Presentation] 海底資源探査用グライダー型ビークルの機体計画 (2015)
  • Author(s): 中牟田 賢
  • Organizer: 日本船舶海洋工学会
  • Place of Presentation: 東京大学生産技術研究所（東京都目黒区）
  • Year and Date: 2015-11-16