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

巻 俊宏

出版者

一般社団法人 人工知能学会

雑誌

人工知能 (ISSN:21882266)

巻号頁・発行日

vol.34, no.2, pp.222-227, 2019-03-01 (Released:2020-09-29)

著者

高木 健 巻 俊宏

出版者

東京大学

雑誌

基盤研究(B)

巻号頁・発行日

2019-04-01

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水中浮遊式海流発電装置は、流速変動により生じる動揺運動を回避して安全性を確保する制御が実施されているが、将来はこの安全性確保と変動流中での出力増加・品質向上による経済性向上を両立させなければならない。本研究では制御システムが安全性を担保しつつ経済性向上が可能かを明らかにすることと、どのような評価関数による最適制御が単位発電出力当たりのコスト削減に適しているのかを明らかにすることを目的として実施する。この目的を達成するため、制御シミュレーションコードを確立するとともに、このシミュレーション結果と海流の長期予測結果を利用してライフタイムの経済性を考慮したLCOEを算出する方法論を構築する。

著者

増田 殊大 杉松 治美 小島 淳一 西田 祐也 巻 俊宏

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 2021 (ISSN:24243124)

巻号頁・発行日

pp.1A1-B03, 2021 (Released:2021-12-25)

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Most of the conventional hydrophones (underwater microphones) use PZT ceramic as the material, and there are problems such as variation in sensitivity, the necessity of high-magnitude amplification and high cost.We developed and evaluated a low-cost, easy-to-use MEMS hydrophone that is waterproof and pressure-resistant while maintaining the bandwidth of a commercially available MEMS microphone.

著者

巻 俊宏 吉田 弘

出版者

低温科学第76巻編集委員会

雑誌

低温科学 (ISSN:18807593)

巻号頁・発行日

vol.76, pp.259-267, 2018-03-31

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自律型無人探査機(AUV)は母船とケーブルで繋がれておらず,全自動で活動できることから,氷の下のようなこれまで調査の難しかった場所の観測を実現できると期待されている.本稿ではAUVの概要および一般的な構成について紹介するとともに,氷の下に展開する際の課題,これまでの研究開発事例,そして我々が今後開発を目指すAUV の設計方針について紹介する.

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.