Preface

Members of the Technical committee

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

Abstract

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.

Key words

• Upper Page
• Next Page

• Ura Lab. Home Page