2004 Fiscal Year Final Research Report Summary
Development of AUV for Whale following
Project/Area Number |
14205146
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Research Category |
Grant-in-Aid for Scientific Research (A)
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Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
海洋工学
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Research Institution | The University of Tokyo |
Principal Investigator |
NOSE Yoshiaki The University of Tokyo, Institute of Industrial Science, Research Associate, 生産技術研究所, 助手 (10114604)
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Co-Investigator(Kenkyū-buntansha) |
URA Tamaki The University of Tokyo, Institute of Industrial Science, Professor, 生産技術研究所, 教授 (60111564)
ASADA Akira The University of Tokyo, Institute of Industrial Science, Professor, 生産技術研究所, 教授 (60323648)
YANAGISAWA Masao Waseda University, Department of Computer Engineering and Network Engineering, Professor, 理工学部, 教授 (30170781)
KOJIMA Junichi KDDI R & D Laboratories Inc., Project leader (Researcher), プロジェクト・リーダー(研究員)
AKAMATSU Tomonari National Research Institute of Fisheries Engineering, Chief Scientist, 水産工学研究所, 主任研究員 (00344333)
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Project Period (FY) |
2002 – 2004
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Keywords | Whale Observation / Sperm Whale / Humpback Whale / Autonomous Underwater vehicle / AUV / click / Acoustic Tracking / Classification |
Research Abstract |
There are few studies on the behavior of whales in underwater. Conventional whale observation from ships gives us only the knowledge of their behavior on ocean surface. Recently new methods using satellite system and suction-cup-TDR tag system have been developed. Satellite system is effective for tracking whales on surface, but this system can not collect any data of whales in underwater. On the other hand, suction-cup TDR tag is effective for collecting data of whales not only on surface but in underwater, however it must be physically attached to a whale by researcher. The other problem is that tag is sometimes lost after it was apart from a whale. Consequently whale's behavior in underwater remains still uncertain to us, thus establishment of a new method which can be utilized for observing whale's behavior on surface and in underwater is expected. In this research, we proposed new whales observation system using AUV(Autonomous Underwater Vehicle) as an underwater platform. The resu
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lts of several sea trials show that the realized system works effectively. Most whales have particular sounds called vocalizations or clicks. Male humpback whales sing songs composed by complicated phrases. Sperm whales are known that they emit loud impulsive broadband sounds called clicks during their diving to a deep water. We analyzed their acoustic data using signal processing techniques and develop new compact acoustic system based on passive sonar for implementing to AUV. Using this system, AUV can get direction and depth information of each whales in underwater to classify and follow them in sub-real time. For the purpose of observing sperm whale's diving behavior, we did sea trials in 2002 and 2003 off Ogasawara Islands and improved the system. In September 2004, we finally could deploy AUV and collect some data with this system. The result of data analysis indicates this system is suitable for sperm whale following using AUV. For the purpose of observing humpback whales behavior, we collected sound data and established new sound model. The result of data sampling test indicates this model is appropriate to be used for classification of humpback whales. Next, we rebuild this model to more compact device to implement to AUV and track humpback whales using AUV. Based on this research, a river dolphin observation project using acoustic system has been started. For future works, we would like to propose carrying out sustainable whale observations using this system off Ogasawara Islands and off Okinawa Islands. Less
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[Journal Article] Development of AUV-based system for acoustic tracking diving sperm whales2004
Author(s)
浦環, Rajendar Bahl, 坂田雅雄, 小島淳一, 福地鉄雄, 浦純也, 森恭一, 中谷武志, 能勢義昭, 杉松治美
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Journal Title
Proc.Oceans'04(OTO'04), Kobe, Japan
Pages: 2302-2307
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Passive tracking of multiple diving sperm whales using single hydrophones at two mobile locations2004
Author(s)
Rajendar Bahl, 中谷武志, 浦環, 小島淳一, 福地鉄雄, 坂田雅雄, 能勢義昭, 浦純也, 森恭一, 杉松治美, 柳澤政生, 鈴木英之
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Journal Title
Abstracts of.147th Meeting Acoustical Society of America, N.Y, USA
Pages: 2518-2519
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Acoustic Tracking of Sperm Whales using Two Sets of Hydrophone Array2004
Author(s)
浦環, 坂田雅雄, Rajendar Bahl, 小島淳一, 福地鉄雄, 浦純也, 能勢義昭, 杉松治美, 森恭一, 中谷武志, 柳澤政生
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Journal Title
Proc.UT'04,Taipei. Taiwan
Pages: 103-107
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Development of AUV-based system for acoustic tracking of diving sperm whales2004
Author(s)
T.Ura, R.Bahl, M.Sakata, J.Kojima, T.Fukuchi, K.Mori, T.Nakatani, Y.Nose, H.Sugimatsu
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Journal Title
Proc.Oceans'04(OTO'04), Kobe, Japan
Pages: 2302-2307
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Passive tracking of multiple diving sperm whales using single hydrophones at two mobile locations2004
Author(s)
R.Bahl, T.Nakatani, T.Ura, J.Kojima, T.Fukuchi, M.Sakata, Y.Nose, J.Ura, K.Mori, H.Sugimatsu, M.Yanagisawa, H.Suzuki
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Journal Title
Abstracts of.147th Meeting Acoustical Society of America, N.Y, USA
Pages: 2518-2519
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Acoustic Tracking of Sperm Whales using Two Sets of Hydrophone Array2004
Author(s)
T.Ura, M.Sakata, R.Bahl, J.Kojima, T.Fukuchi, J.Ura, Y.Nose, H.Sugimatsu, K.Mori, T.Nakatani, M.Yanagisawa
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Journal Title
Proc.UT'04, Taipei.Taiwan
Pages: 103-107
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Real-Time Classification and Tracking of Sperm Whales in a Multi-Whale Scenario2003
Author(s)
Bahl Rajendar, 浦環, 浦純也, 能勢義昭, 福地鐵雄, 小島淳一, 森恭一, 坂田雅雄, 杉松治美, 清水友樹, 柳澤政生
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Journal Title
Abstracts of 15th Biennial Conference on the Biology of Marine Mammals, Greensboro, USA
Pages: 134-134
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Approaching Whales by Autonomous Underwater Vehicle2002
Author(s)
岩上寛, 浦環, 浅川賢一, 藤井輝夫, 能勢義昭, 小島淳一, 白崎勇一, 浅井輝之, 内田詮三, 東直人, 福地鐵雄
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Journal Title
Marine Technology Society Journal Vol.36,No.1
Pages: 80-87
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Approaching Whales by Autonomous Underwater Vehicle2002
Author(s)
H.Iwakami, T.Ura, K.Asakawa, T.Fujii, Y.Nose, J.Kojima, Y.Shirasakai, T.Asai, S.Uchida, N.Hhigashi, T.Fukuchi
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Journal Title
Marine Technology Society Journal Vol.36, No.1
Pages: 80-87
Description
「研究成果報告書概要(欧文)」より