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Workshop for
Asian and Pacific Universities' Underwater Roboticians


Advanced Program

Co-Chairs: Prof. Tamaki Ura (IIS, The University of Tokyo) : ura@iis.u-tokyo.ac.jp Prof. Hang S. Choi (Seoul National University) : hschoi@plaza.snu.ac.kr Prof. Forng-Chen Chiu (National Taiwan University) : fcchiu@ntu.edu.tw Prof. Song K. Choi (University of Hawaii, Manoa) : schoi@wiliki.eng.hawaii.edu Organizers: Institute of Industrial Science, The University of Tokyo Seoul National University National Taiwan University University of Hawaii, Manoa Date: October 29th (Sat.) 9:20 - 18:00: Sessions 18:15 - 20:00: Welcome Party October 30th (Sun.) 10:00 - 12:00: Sessions 13:00 - 14:00: Ura Lab. Visit and Demo. Venue: Conference Hall "Haricot" at Komaba Research Campus of University of Tokyo http://www.iis.u-tokyo.ac.jp/english/map/index.html Building #16 in the above map was reconstructed as Conference Hall Building "An" Language: English Registration: Submit Name, Title, Affiliation, and E-mail Address to Secretariat not later than 21st of October Registration Fee: Speaker & University People: Free Non-University People: 3,000 yen for Copy of Abstracts Sponsors: Ministry of Education, Culture, Sports, science and Technology (MEXT) Japan Society for the Promotion of Science (JSPS) Japan Science and Technology Agency (JST) Korea Science and Engineering Foundation (KOSEF) The 21st Century COE Program "Mechanical Systems Innovation" Remark: 1) Workshop "TruuRobo", which was annually held from 2001, was re-organized into APuuRobo 2) On October 28, afternoon, a domestic forum for underwater technology will be held at Ocean Research Institute, where 7 topics will be talked. But two of them are by Prof. Dick Blidberg and Prof. GE Tong. They will talk in English. This forum is free except the attached small party (3,000 yen). About more detail, contact secretariat. Secretariat: Harumi Sugimatsu: harumis@iis.u-tokyo.ac.jp Tel: +81-3-5452-6487 Fax: +81-3-5452-6488

Saturday October 29, 2005 Morning

9:00 Registration: Conference Hall "Haricot" at Building "An" of IIS Campus 9:20 Welcome address: Tamaki Ura, Institute of Industrial Science, The University of Tokyo Sessions: 9:30 AUV Design 9:30 1) Interconnectivity Among Multiple AUVs; An Enabling Technology Richard Blidberg, Autonomous Undersea Systems Institute 10:00 2) Navigation and Communication System for Manipulation tasks by Autonomous Underwater Vehicles Son-Cheol Yu, Tae Won Kim, Giacomo Marani, Song K. Choi and J. Yuh, University of Hawaii, Manoa 10:30 3)gZero-Gh Type underwater robots using control moment gyros. Blair Thornton, Institute of Industrial Science, The University of Tokyo 11:00 4) Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM) Tae Won Kim, Giacomo Marani, Son-Cheol Yu, Song K. Choi and J. Yuh, University of Hawaii, Manoa 11:30 5) Development of easy-to-use and low cost AUV basin experiment system Keisuke Watanabe, Tokai University 12:00 6) Development of an Underwater Self-reconfigurable Robot GE Tong, Shanghai Jiaotong University 12:30 Lunch:

Afternoon

Sessions: 13:30 AUV Operation 13:30 1) Diving to Myojinsho Submarine Crater Tamaki Ura, Institute of Industrial Science, The University of Tokyo 14:00 2) Sperm Whale Following by AUV Aqua-explorer 2000 Junichi Kojima, KDDI R&D Laboratories 14:30 AUV Dynamics 14:30 1) Moving-target tracking using a biomimetic underwater vehicle Jenhwa Guo, Sheng-Wen Chen and Mon-Jay Tsai, National Taiwan University 15:00 2) Time domain calculation for hydrodynamic forces of oscillating foils Chang-Cheng Wu and Forng-Chen Chiu, National Taiwan University 15:30 Coffee Break: Sessions: 16:00 AUV Navigation 16:00 1) Tri-Dog 1 Operation at Lake Biwa Toshihiro Maki, Institute of Industrial Science, The University of Tokyo 16:30 2) A Sonar/Optics Based Navigation Scheme for AUVs Arjuna Balasuriya, Nanyang Technological University 17:00 3) A Collision Avoidance System for AUVs Based on Expanded 3D Vector Field Histogram Young-il Lee andYong-Gi Kim, Gyeongsang National University 17:30 4) Numerical Analysis on the Error Convergence of an Inertial-Acoustic Navigation System for Underwater Vehicles with a Range Sensor Pan-Mook Lee and Bong-Huan Jun, KORDI-MOERI 18:15 Welcome Party:

Sunday October 30, 2005 Morning

9:30 Registration: Conference Hall "Haricot" at Building "An" of IIS Campus Sessions: 10:00 AUV Manipulation 10:00 1) Autonomous Underwater Manipulation for Intervention Vehicles Giacomo Marani, Tae Won Kim, Son-Cheol Yu, Song K. Choi and J. Yuh, University of Hawaii, Manoa 10:30 2) Brain-inspired Information Technology for Underwater Vehicles Kazuo Ishii, Kyushu Institute of Technology 11:00 AUV Control 11:00 1) Attitude Control of a Glider-type AUV by Moving Mass System Dong C. Seo, Gyung Nam Jo, Yong Hi Lee and Hang S. Choi, Seoul National University 11:30 2) A stable tracking control method for a biomimetic underwater vehicle Bo-Hung Chen, Jenhwa Guo and Forng-Chen Chiu, National Taiwan University 12:00 Closing Address: Hang S. Choi, Seoul National University

Afternoon

13:00 Ura Lab. Visit and Demo. : 1) Tri-Dog 1 2) Tam-Egg 2