H. Chiba

The University of Tokyo, Edo, Tōkyō, Japan

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Publications (2)0 Total impact

  • [Show abstract] [Hide abstract]
    ABSTRACT: A versatile test-bed named "the Twin-Burger" was developed at the Institute of Industrial Science, the University of Tokyo to establish the techniques which realize intelligent behaviors of autonomous underwater vehicles (AUVs). Construction of the vehicle was completed and it was launched in November 1992. This paper describes hardware and software systems of the vehicle in detail. Motion of the vehicle is controlled by sliding controllers based on simplified equations of motion which are derived from system identification experiments. Several tank tests were carried out to investigate the controllers' performance. It is shown that the vehicle successfully cruises along a commanded path as a sequence of control actions which are generated by the sliding controllers.
    OCEANS '93. Engineering in Harmony with Ocean. Proceedings; 11/1993
  • [Show abstract] [Hide abstract]
    ABSTRACT: The authors introduce a project to build a multisensor-based autonomous underwater vehicle (AUV) named the Twin-Burger, which is the newest vehicle of the Institute of Industrial Science, the University of Tokyo. The Twin-Burger is being designed as a versatile testbed on which the techniques as represented by software architectures can be implemented and tested. The first in-water experiment is expected in 1992. The distributed vehicle management architecture is proposed as a software architecture for the Twin-Burger. The architecture is being developed to approach the most critical problem in the distributed system, that is, how to manage heterogeneous software modules in a homogeneous structure. Performance of the software developed for this management system will be tested using a multipurpose environment simulator
    Autonomous Underwater Vehicle Technology, 1992. AUV '92., Proceedings of the 1992 Symposium on; 07/1992