Title :
A deep sea AUV "MR-X1" for scientific work
Author :
Yoshida, Hiroshi ; Aoki, Taro ; Murashima, Takashi ; Tsukioka, Satoshi ; Nakajoh, Hidehiko ; Hyakudome, Tadahiro ; Ishibashi, Shojiro ; Sasamoto, Ryoko
Author_Institution :
Japan Marine Sci. & Technol. Center, Yokosuka, Japan
Abstract :
Since 2000, JAMSTEC has been developing an AUV (length: 2.5 m, weight in the air: 800 kg), MR-X1, with a shape like the head of a fish. The maximum depth of the AUV is 4,200 m and its operating time is approximately 15 hours with a Li-ion battery unit. Five thrusters are equipped for high maneuverability. A TV camera, a side scan sonar, and a manipulator are equipped for various scientific works. MR-X1 has three operation modes: an autonomous mode, an UROV mode, and a wireless (acoustic/radio) control mode. The development goal of the MR-X1 is achievement of the working robot with high intelligence for detailed ocean investigation, installation of observation equipment on the sea floor and so on.
Keywords :
manipulators; oceanographic equipment; sonar imaging; underwater sound; underwater vehicles; 15 h; 2.5 m; 4200 m; 800 kg; AD 2000 to 2002; JAMSTEC; Li-ion battery unit; TV camera; UROV mode; acoustic/radio control mode; autonomous mode; deep sea AUV MR-X1; fish head shaped AUV; manipulator; observation equipment installation; ocean investigation; side scan sonar; thruster; wireless control mode; working intelligent robot; Batteries; Cameras; Intelligent robots; Manipulators; Marine animals; Radio control; Robot vision systems; Shape; Sonar; TV;
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
DOI :
10.1109/OCEANS.2003.178508
