Researches on autonomous underwater vehicles having no cable between mother
ship and vehicles were carried out from the standpoints of hydrodynamics
and control engineering.
AUV "FLIPPER"
- Design of configuration of AUV capable of CCV control and its guidance and control(ref.(1))
- Guidance and control for rendezvous and docking with underwater station(ref.(2))
- Application of Fuzzy algorithm
AUV "AQUA EXPLORER 1000(AE1000)"(ref.(3)-(6))
- Development of AUV for inspection of underater telecommunication cables up to 1,000 m depth
(Joint Project of KDD with our lab. )
- Success of Dive to 750m in depth at Sagami Bay in March, 1995 and
autonomous tracking of actual underwater telecommunication cables at a sea area of 400 m depth in Miyazaki Bay in March, 1995 (see the movie in "news of Kato lab.)
AUV "AQUA EXPLORER 2(AE2)"(ref.(7)-(9))
- Development of a Practical AUV for Inspection of Underwater Cables Based on the Results of AE1000 . It was finished in March, 1997 and AUV named " AUV2" was tested at sea 1n June,1997. It is being used practically from 1998.
References
(0) N Kato: Applications of Fuzzy Algorithm to Guidance and Contrl of Underwater Vehicles,
Underwater Robotic Vehicles -Design amd Control- (Edited by J. Yuh,TSI Press), 1995
(1)N.Kato, S.Koda: Attitude Control and Navigation of Unmanned, Untethered Submersible,
8th Int. Conf. of Offshore Mech. and Arctic Eng. , Vol.4, pp.89-96,1989
(2)N.Kato and M.Endo:Guidance and Control of Unmanned,Untethered Submersible for Rendezvous and Docking with Underwater Station ,
Oceans'89(MTS,IEEE),pp.804-809,1989
(3)K.Asakawa, J.Kojima, Y.Ito, Y.Shirasaki, N.Kato: Development of Autonomous Underwater Vehicle for Inspection of Underwater Cables,
Underwater Intervention'93, pp.208-216, 1993
(4)N.Kato,Y.Ito,J.Kojima,K.Asakawa and Y.Shirasaki: Guidance and Control of Autonomous Underwater Vehicle "AQUA EXPLORER 1000" for Inspection of Underwater Cables,
UUST'93 Proceedings,pp.195-211,1993
(5)Y.Ito,N.Kato,J.Kojima,S.Takagi,K.Asakawa and Y.Shirasaki: Cable Tracking for Autonomous Underwater Vehicle,
1994 Symp. on Autonomous Underwater Vehicle Technology(IEEE), pp.218-224,1994
(6)N.Kato,Y.Ito,J.Kojima,K.Asakawa and Y.Shirasaki: Control Performance of Autonomous Underwater Vehicle "AQUA EXPLORER 1000" for Inspection of Underwater Cables,
OCEANS'94(IEEE) Proceedings Vol.1,pp.37-42,1994
(7)Kojima,J., Kato,Y., Asakawa, K., Matsumoto, S., Takagi, S. and Kato,N.: Development of Autonomous Underwater Vehicle
' AQUA EXPLORER 2' for Inspection of Underwater Cables, Proc. of OCEANS'97 (IEEE)
(8)Kato,N., Kojima,J., Kato,Y., Matsumoto, S. and Asakawa, K. : Optimization
of Autonomous Underwater Vehicle for Inspection of Underwater Cables, Proc.
of 1998 Int. Conf. on Robotics. and Automation(IEEE), pp.1045-1050, 1998
(9) Asakawa, K., Kojima,J.,Kato,Y., Matsumoto,S., Kato,N, Asai,T. and Iso,T.:
Design Concept and Experimental Results of Autonomous Underwater Vehicle
AQUA EXPLORER 2 for Inspection of Underwater Cables, J. of Advanced Robotics,
Vol.16, No.1, pp.27-42, 2002
(AE2)
(AE1000)