| Co-Investigator(Kenkyū-buntansha) |
SUZUKI Masakiyo Kitami Inst. of Tech., Dept of Computer Sci., Prof., 教授 (60192621)
MAEKAWA Kazuyoshi Hokkaido Univ., Field Sci, Cent, Northern Biosphere, Prof., 大学院・水産科学研究科, 助手 (80250504)
KARASUNO Keiichi Hokkaido Univ., Grad. School of Fisheries Sci. Prof., 大学院・水産科学研究科, 教授 (80031467)
ODA Hiroyuki Mitsui Zosen Inc., Akishima laboratories, Manager, 昭島研究所, 部長(研究職)
MATSUDA Koichi Tomakomai Nat. College of Tech., Assi. Prof., 講師 (10331951)
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| Research Abstract |
Our lake system has provided several interesting findings in salmon homing migration as a result of ultrasonic tracking telemetry. This technique has the advantage of allowing constant observation of fish behavior, but has the disadvantage of being highly laborious work. In order to overcome this disadvantage, ten experts in the fields of ship engineering, signal processing, acoustic engineering, and computer science have carried out a collaborative research project to develop an automatic salmon-tracking robot boat in Lake Toya since 1999.
We are trying to develop interrelated four equipment systems; 1) a robot boat, 2,5 m in length, 1.3 m in width, with a loading capacity of 120 kg, operating by two electric thrusters at 2 knots, 2) an ultrasonic tracking system detecting distance and direction of miniature pingers, 3) a signal processing and control system consisting of DGPS, acoustic signal, and gyroscope, 4) a telecommunication system between a land base and the boat.
Using a NTT handy-phone circuit, we have succeeded in navigating the boat to any point in the lake using commands from shore, in having the boat cruise and stop by self-navigation, and in transmitting data from the DGPS and gyroscope from the boat to the base. On October 17, 2001, the robot boat to track the robot boat was able to track an acoustic signal acquired from a male lacustrine sockeye salmon about 800 m for 66 min. In the future, we plan to track salmon using the robot boat in the ocean.
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