Title :
A working AUV for scientific research
Author :
Yoshida, Hiroshi ; Aoki, Taro ; Yamamoto, Ikuo ; Tsukioka, Satoshi ; Hyakudome, Tadahiro ; Ishibashi, Shojiro ; Sasamoto, Ryoko ; Nasuno, Yohei ; Ishikawa, Akihisa
Author_Institution :
Japan Agency for Marine-Earth Sci. & Technol., Yokosuka, Japan
Abstract :
JAMSTEC has been developing AUVs: the cruising AUV "Urashima" and the working AUV "MR-X1". The cruising AUV is able to collect sea data and samples automatically in long range cruising. The working AUV which would be equipped with manipulators is also needed as alternated for ROVs. The MR-X1 is designed for the scientific work, such as installing or recovering observation equipment, tracking and sampling benthic feeders, and supporting ROV\´s works. We had started of development of the MR-X1 in 2000. Its body (2.5 m long, 800 kg weight) had been assembled by 2002. The control hardware using CAN bus interface was installed in 2003. Presently, we are mainly investigating the control system software. In this paper, we describe the system configurations of the MR-X1, focused on its control system. In addition, we report some results of sea trials.
Keywords :
data acquisition; manipulators; remotely operated vehicles; underwater vehicles; AD 2000 to 2003; Autonomous Underwater Vehicle; CAN bus interface; JAMSTEC; Japan Agency for Marine-Earth Science and Technology; MR-X1; ROV; Remotely Operated Vehicle; URASHIMA; benthic feeder tracking/sampling; control hardware; control system software; cruising/working AUV; manipulator; sea data; Assembly; Control systems; Earthquakes; Electronic ballasts; Hardware; Marine technology; Remotely operated vehicles; Sea floor; System software; Underwater vehicles;
Conference_Titel :
OCEANS '04. MTTS/IEEE TECHNO-OCEAN '04
Print_ISBN :
0-7803-8669-8
DOI :
10.1109/OCEANS.2004.1405579
