University of Tokyo
- Institute of Industrial Science(IIS)
- Tamaki Ura :Professor (chairman)
- Hisaaki Maeda : Professor
- Haruo Yoshiki : Professor
- Yoshiaki Nose : Assistant
- Takashi Sakamaki: Technical Assistant
- Faculty of Engineering
- Hisashi Ishitani: Professor
- Hiroyuki Yamato : Associate Professor
- Ocean Reseach Institute
- Hiromi Fujimoto : Associate Professor
- Toshitaka Gamou : Associate Professor
- Research Centre for Advanced Science and Technology
- Keiji Kawachi : Professor
University of Electro-Communications
- Tomoyoshi Takeuchi : Professor
Mitsui Engineering & Shipbuilding Co., Ltd.
- Business Development Planning Dept.
- Hiroshi Tabuchi : Manager (co-chairman)
- Tamano Shipyard- Underwater Engineering Dept.
- Takanori Ohta : General Manager
- Takashi Obara : Manager
- Shinichi Maeda : Manager
- Advanced Machines & Engineering Div.
- Kitao Yamamoto : Manager
- Masakazu Matsushima: Manager
- Makoto Kohnosu : Assistant Manager
This paper presents the current state of a project, which started
in 1990 to develop an autonomous underwater free swimming robot
equipped with a Closed Cycle Diesel Engine (CCDE) for long term servey
of mid-ocean ridges. The distinctive feature of CCDE is robustness and
low cost for construction and operation.
The robot structure and configuration of a torpedo-shaped hull are
described in detail including newly developed thrusters using compact
DC brushless motors. As the robot aims to swim in the vicinity of the
seabed, an Intertial Navigation system (INS) co-operates with a
doppler sonar system to make accurate navigation for detailed
research. The CCDE system for the robot has been completed and its
submerged tests are underway in a fresh water pool.
Autonomous underwater vehicle, Air independent power, Closed
cycle diesel engine, Inertial navigation system, Doppler sonar
Last modified: Mon Jun 5 18:35:02 1995