著者

巻 俊宏 近藤 逸人 浦 環 坂巻 隆 水島 隼人 柳澤 政生

出版者

海洋調査技術学会

雑誌

海洋調査技術 (ISSN:09152997)

巻号頁・発行日

vol.21, no.1, pp.1_13-1_25, 2009 (Released:2010-10-18)

参考文献数

14

被引用文献数

2

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The authors have proposed an innovative method to navigate an autonomous underwater vehicle (AUV) for visual mapping of seafloor with high positioning accuracy without using any vision-based matching. The proposed method was implemented in the AUV Tri-Dog 1 and sea experiments were carried out at Tagiri vent field, Kagoshima bay in Japan (Maki et al., 2008). Based on the success of the experiments, a series of dives was carried out at the same place. The AUV Tri-Dog 1 succeeded in 12 fully autonomous dives with a total duration of 29 hours. The vehicle took 9,288 pictures of the seafloor, keeping the altitude of 1.2 m with a surge speed of 0.08 m/s. A photomosaic of the seafloor was created by mapping 7,289 pictures based on the real-time estimates of the AUV state, without any pictorial correlation. The distributions of detailed features such as tube-worm colonies and bacteria mats are clearly shown. The photomosaic covers around 3,000 square meters. To the knowledge of the authors, this is one of the largest underwater photomosaic ever reported. The mapping accuracy was estimated to be 0.3 to 0.8 m based on the comparison of the photomosaic between dives.

著者

重 浩一郎 坂巻 隆史 西村 修

出版者

一般社団法人 環境情報科学センター

雑誌

環境情報科学論文集 Vol.36(2022年度 環境情報科学研究発表大会)

巻号頁・発行日

pp.68-74, 2022-11-30 (Released:2022-12-05)

参考文献数

5

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国が毎年実施する地球温暖化対策の推進に関する法律施行状況調査結果を活用して地域の脱炭素に向けた現状と課題について岩手県内市町村を事例に分析を行い,条例や計画の策定状況や内容,企業や他自治体との連携の現状や課題,今後の自治体の対策の課題意識と対応の方向性など有益な知見を得ることができた。施行状況調査結果は,現在は一部のみが公開されているが,今後は全ての調査内容が公開されることで環境政策の進展が期待される。

著者

巻 俊宏 近藤 逸人 浦 環 坂巻 隆 水島 隼人 柳澤 政生

出版者

海洋調査技術学会

雑誌

海洋調査技術 (ISSN:09152997)

巻号頁・発行日

vol.20, no.1, pp.1_1-1_16, 2008

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Although underwater visual observation is an ideal method for detailed survey of seafloors, it is currently a costly process that requires the use of Remotely Operated Vehicles (ROVs) or Human Occupied Vehicles (HOVs), and can cover only a limited area. This paper proposes an innovative method to navigate an autonomous underwater vehicle (AUV) to create both 2D and 3D photo mosaics of seafloors with high positioning accuracy without using any vision-based matching.<br>The vehicle finds vertical pole-like acoustic reflectors to use as positioning landmarks using a profiling sonar based on a SLAM (Simultaneous Localization And Mapping) technique. These reflectors can be either artificial or natural objects, and so the method can be applied to shallow vent fields where conventional acoustic positioning is difficult, since bubble plumes can also be used as landmarks as well as artificial reflectors. Path-planning is performed in real-time based on the positions and types of landmarks so as to navigate safely and stably using landmarks of different types (artificial reflector or bubble plume) found at arbitrary times and locations. Terrain tracker switches control reference between depth and altitude from the seafloor based on a local map of hazardous area created in real-time using onboard perceptual sensors, in order to follow rugged terrains at an altitude of 1 to 2 meters, as this range is ideal for visual observation.<br>The method was implemented in the AUV Tri-Dog 1 and experiments were carried out at Tagiri vent field, Kagoshima Bay in Japan. The AUV succeeded in fully autonomous observation for more than 160 minutes to create a photo mosaic with an area larger than 600 square meters, which revealed the spatial distribution of detailed features such as tube-worm colonies, bubble plumes and bacteria mats. A fine bathymetry of the same area was also created using a light-section ranging system mounted on the vehicle. Finally a 3 D representation of the environment was created by merging the visual and bathymetry data.

著者

巻 俊宏 近藤 逸人 浦 環 坂巻 隆 水島 隼人 柳澤 政生

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2008, pp._2A1-A11_1-_2A1-A11_4, 2008

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This paper proposes an innovative method to navigate an autonomous underwater vehicle (AUV) for detailed visual seafloor mapping with high positioning accuracy without using any vision-based matching. The method consists of three parts, SLAM (Simultaneous Localization And Mapping), path-planning and terrain tracking. The method was implemented in the AUV Tri-Dog 1 and a series of experiments were carried out at Tagiri vent field, Kagoshima bay in Japan. The AUV succeeded in observation of interesting features of the field including bubble plumes, bacteria mats and tube-worm colonies through 12 fully autonomous dives, totaling 29 hours duration. Finally a photomosaic covering about 3,000 square meters was created.

著者

巻 俊宏 近藤 逸人 浦 環 坂巻 隆

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2007, pp._2A2-C01_1-_2A2-C01_4, 2007

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This paper proposes a practical navigation method for an Autonomous underwater vehicle (AUV) to carry out visual observations of seafloors, especially those of shallow vent fields. Underwater vent fields are scientifically important while their hostile environment presents a real challenge for AUVs. The method localizes the vehicle with regard to natural bubble plumes as well as artificial landmarks found by an onboard profiling sonar, based on the idea of Simultaneous localization and mapping (SLAM).The path plan is also updated in real time with regard to the position of the vehicle, the landmarks and the pre-defined waypoints. The method was implemented in the AUV "Tri-Dog 1" and a series of experiments were carried out at "Tagiri" vent area, Kagoshima bay in Japan. The AUV succeeded in observation of interesting features of the field including bubble plumes, bacteria mats and tube-worm colonies through 12 fully autonomous dives with the total time of more than 12 hours.

著者

川口 勝義 浦 環 折出 光宏 坂巻 隆

出版者

社団法人 日本船舶海洋工学会

雑誌

日本造船学会論文集 (ISSN:05148499)

巻号頁・発行日

vol.178, pp.657-666, 1995-12

参考文献数

9

被引用文献数

8 7

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The ALBAC designed by the authors and constructed in 1992 is a prototype of shuttle type autonomous underwater vehicles. The ALBAC was developed for the oceanographic measurement of water column on the way and from the seabed.<BR>The vehicle does not have a propeller thruster but moves aside by gliding. To carry out the mission, the software includes three simple fuzzy controllers for longitudinal and lateral motion. The longitudinal motion controller displaces the longitudinal coordinate of the location of the center of gravity (C. G.) and controls the gliding angle, respectively of the vehicle. Two lateral motion controllers also displace the lateral coordinate of C. G. and control azimuth and yaw rate. The parameters of the fuzzy rules were optimized by using the Evolution Strategies on the simulator, and examined based on the motion data of every trial. 300-meter depth sea trials were successfully conducted in April of 1995 at the Suruga Bay of Japan.<BR>Consequently, the ALBAC is highly reliable and can be easily operated to carry out the mission to measure the profile of scientific data.

著者

西村 修 水落 元之 稲森 悠平 山田 一裕 坂巻 隆史 徐 開欽 大村 達夫 金 主鉉 須藤 隆一

出版者

東北大学

雑誌

基盤研究(B)

巻号頁・発行日

1998

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本研究では干潟のもつ自然浄化機能として、干潟の陸側後縁を形成するヨシ原による栄養塩類の取り込み,干潟における栄養塩循環・脱窒、さらに藻場による栄養塩類の取り込みに着目し、それらの機能の評価・解析、機能を発揮させるための生態工学的手法開発を行った。本研究で得られた主な成果を以下にまとめる。1)ヨシ湿地に関する研究・下水処理水を高度処理するヨシ湿地の高機能化として充填担体の空隙率が栄養塩の除去能力に及ぼす影響を解析し、窒素除去には根圏微生物の硝化・脱窒作用が重要であり、適切な空隙率と水面積負荷で硝化・脱窒の同時反応が起こること、リンの除去は担体への吸着によるものがほとんどであり、空隙率の低いほうが適していることが明らかになった。2)干潟に関する研究・東京都内湾の護岸に生息する付着動物の浄化機能を評価し、護岸距離192kmで1日19tのCODを浄化していること、この値は東京都から流入するCOD量の23%に相当することが明らかになった。・葛西人工海浜の環境修復状況と、東西両なぎさの生態系の違いの要因について解析し、構造的な問題から降雨時に河川水の流入・停滞が発生して底生動物に大きな影響を及ぼすこと、そのための底生動物の種類数は造成前のそれに回復しているが安定していないことが明らかになった。3)藻場に関する研究・大型褐藻類アカモク(Sargassum horneri)の栄養塩吸収機能を解析し、温度、照度、栄養塩濃度、生育ステージと栄養塩吸収速度の関係を定式化した。そして,松島湾の栄養塩循環に及ぼすアカモクの栄養塩吸収機能の影響を評価し、5月におけるアカモク藻場は流入負荷の約7割を吸収し、水質改善に大きく寄与していることがわかった。