a paper of design, construction, experiments of manta(pdf format)
manta-ceresia is a newly (May 1996) constructed testbed for cruising-type AUV such as PTEROA150. Therefore it is equipped with almost same kinds of sensors as PTEROA150 except INS. It is designed so as to do cruising test in a small cistern(5m x 20m x 1.5m) in IIS and to verify verious control architecture. The robot is AUV but it can also be controlled by radio. During radio-control, controlled input and various state variables can be stored in the robot's RAM on computer board. Based on such cruising data the robot learns to cruise by himself with artificial neural network and to keep constant altitude over complicated seabed.

Length overall450mm
Width overall630mm
Body Width450mm
Height overall135mm
Longitudinal Cross SectionNACA0030
Dry Weight14kg
CPUNEC V50 x1 for I/O
Transputer T805 x2
Sensors6ch Ultra-Sonic Range Finders (150kHz)
TCM2 (Inclinometer x2,Heading,Temperature,Magnetometer)
Pressure Sensor (Depth meter)
Propeller type velosity meter
Thruster tacho meter x2
Battery Voltage Monitor
ActuatorsElevetor x2
Thruster x2 (400gf x2) (Fore & Back)
Maximum Velosity1 m/sec
Maximum Depth10 m
Power SourceNickel-H Cell
16.8V 2800mAh x1 for CPU
8.4V 2800mAh x2 for Thruster
Duration of Cruise2hours and half
Cruising Range9km

This is manta-ceresia!
The projecting above is a propeller type velosity meter

This is underwater eyes,
Ultra-Sonic Range Finders!
They are also placed on both sides.
Based on the ranges acquired by these sensors
manta can cruise keeping constatnt altitude.

These are newly designed thruster module
and direct drive elevator

This is CPUBOX!
The outer space of it is filled with water.

Last modified: Tue Oct 28 12:25:23 1997
URA Laboratory, IIS, Univ. of Tokyo /