Conference Paper

Newly-developed Devices for The Two Types of Underwater Vehicles

DOI: 10.1109/OCEANSE.2007.4302431 Conference: OCEANS 2007 - Europe
Source: IEEE Xplore

ABSTRACT

JAMSTEC has developed the two types of underwater vehicle since 2005: an ROV to the oceans' deepest depth called ASSS11k (advanced sediment sampling system to 11,000 meter) and a hybrid underwater vehicle for use in shallow-water to mid-depth zones named PICASSO (Plankton Investigatory Collaborating Autonomous Survey System Operon). The most important purpose of the ASSS11k is to get a lot of mud sample of challenger deep in the Mariana Trench, because a number of bacteria have been found there. Scientist wants to continuously explore the deepest parts of the oceans with a vehicle equipped with sediment samplers. ASSS11k consists of a sampling station and a sediment probe. The station contains two types of bottom samplers. One launches the probe to make a preliminary survey, launching the sampler to obtain a sample. We carried out the first sea trial using support vessel of "KAIREI" in January 2007. We tested every functions of the system and achieved sediment sampling at Sagami bay. PICASSO (2 times 0.8 times 0.8 m, 200 kg) is designed for biological and oceanographic observations in depths of up to 1,000 m. This small, light vehicle can be handled and operated by a team of only a few people. The easy-to-use vehicle does not need a dedicated support ship. The vehicle can be used either as untethered remotely operated vehicle (UROV) or autonomous underwater vehicle (AUV). In order to develop these vehicles, we used some new technologies and then developed new original devices: a small electrical-optical hybrid communication system, an HDTV optical communication system with Ethernet interface, synthetic designed pressure vessel-chassis-inner circuit boards, buoyancy material for deepest depth, a thin cable with high-tensile strength, a core sampler launcher, crawlers, compact winch motor drivers, a USBL system, a ballast controller, a friendly-user-interface program for operator, a high capacity lithium ion battery, a down sizing optical fiber spooler, and a prototy-
pe of underwater electromagnetic communication system.

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    • "Varieties of AUVs and ROVs are being developed globally for different purposes and the design of these systems change based on the application for which it is developed. For example, an ROV, ASSS11K, developed by JAMSTEC is used to collect mud samples by exploring the deepest part of the ocean and an Untethered ROV, PICASSO, was developed for biological and oceanographic observations which can operate up to a depth of 1,000m[7]. Though both being ROVs, one developed for a particular application cannot be used for another.Also design of all these vehicle plays a major role in optimal performance of the vehicle. A parametric estimation of design parameters based on energy consumption is carried out in [8]and the result shows a drastic change in performance of the system.Conventional designs of underwater vehicles sometimes fall short in maneuvering capabilities. "
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    ABSTRACT: A new configuration of underwater robotic vehicle, named AQUAD, is presented here. It is a configuration with four thrusters in a plane which is inspired from an aerial quadrotor system. The system is designed considering the hydrodynamic challenges, and mathematically modelled using Newton-Euler approach. A PID controller is used to control the attitude of the system and implemented with the model to analyze its behavior. The system is commanded with various inputs and the performance of the model with the controller is studied. A prototype of AQUAD is being developed and the system is to be tested in real time. Keywords—quadrotor; underwater; thruster I. INTRODUCTION Development of underwater vehicles has achievedgreater interest in the recent past as they can replace human beings in dangerous underwater operations and inspections. Some of these vehicles can carry human beings while some other can be used for visual inspection of operations and manipulations underwater. Some underwater vehicles are used in commercial field applications [1] and some being employed for extraction of oil and gas [2]. Choosing right underwater vehicle and appropriate technologies to accomplish any of the above mentioned missions is an important task [3],[4] and [5].There are various types of underwater vehicles based on design, control or purpose of the vehicle. The choice of underwater vehicles with suitable shape for a particular task is the key in accomplishing the task and the shape has to be optimized to maximize the performance of the vehicle [6].Autonomous Underwater Vehicle (AUV) is a broad classification of underwater vehicles which as the name suggests, operate autonomously without human intervention. Another broad classification of underwater vehicles is Remotely Operated Vehicles (ROV) which is controlled manually from a mother ship. Varieties of AUVs and ROVs are being developed globally for different purposes and the design of these systems change based on the application for which it is developed. For example, an ROV, ASSS11K, developed by JAMSTEC is used to collect mud samples by exploring the deepest part of the ocean and an Untethered ROV, PICASSO, was developed for biological and oceanographic observations which can operate up to a depth of 1,000m[7]. Though both being ROVs, one developed for a particular application cannot be used for another.Also design of all these vehicle plays a major role in optimal performance of the vehicle. A parametric estimation
    Full-text · Conference Paper · Feb 2015
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    • "A low cost LED array in an oil-filled pressure balanced case is available to use to 11000 m depth. This consists of LEDs, a copper base plate, resistors, an underwater connector, and a 1/2 " clear tube (Yoshida 2007b). c. "
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    ABSTRACT: This chapter mainly presents information of hardware devices utilized in the development of new underwater vehicles. Basic devices including a stereoscopic HDTV camera system, communication devices and methods under development, modern power sources, and data processing methods are described. Power sources are extremely important in underwater vehicle design. The recent trends of Lithium-ion batteries, which are better for small to midsize vehicles design, and fuel cells for large vehicles are introduced. Three vehicles developed in JAMSTEC incorporated the mentioned devices and their sea trial results are shown. The development purpose of these vehicles is different but the techniques and the devices were shared in the development of each vehicle. As was mentioned in the introduction, state of the art underwater vehicles will enable a whole ocean research. The configuration of multiple deployment small AUVs and a large LCAUV may be an effective operation style in the future. The improvement of fundamental devices is essential to realize this goal. In order to improve the survey of climate change, assessment of earthquakes, and ocean resources, the accelerated development of intelligent underwater vehicles is also expected.
    Full-text · Chapter · Jan 2009
    • "The single forward-pointing HID light is used when searching for targets and video quality is not paramount . High-power white LEDs (NCCW023S, Nichia Corporation) have been combined with a copper base plate, resistors, an underwater connector, and a 1/2″ clear tube filled with oil to balance internal-external pressure (Yoshida et al., 2007aYoshida et al., , 2007b). One of these LED arrays incorporates red LEDs to allow PICASSO-1 to operate in " stealth " mode due to the fact that most deep sea animals are thought to not behaviorally respond to red light (Widder, 2005;Raymond & Widder, 2007). "
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    ABSTRACT: JAMSTEC pursues to develop a small hybrid vehicle for plankton investigation since 2005. The cutting-edge plankton survey system development project named Plankton Investigatory Collaborating Survey System Operon (PICASSO) project aims the establishment of a multiple vehicle observation scheme for efficient and innovative research of planktons. As the first step, we started the development of PICASSO-1 in April 2005. In last February assemble of the archetype vehicle system was completed and began sea trials. This vehicle equipped with high definition television camera is presently operated by UROV mode, which is the mode with thin optical fiber cable communication. The small vehicle was tested using various classes of support ship; Yokosuka (4,439 tons) and Natsushima (1,739 tons) owed by JAMSTEC, and Rinkai-maru (17 tons) owed by University of Tokyo. Sea trials carried out with either ship are successfully finished and could obtain a lot of images. The vehicle mounted underwater microscope was also tested and gathered photos of a few milli-meters planktons. In the latest sea trial a newly developed stereoscopic high definition TV system was tested to make 3-D underwater presentation film and to estimate object scale. We are currently processing data obtained. We have also tried to develop plankton autonomous tracker. For making it come true, it is necessary to investigate two technologies that are plankton recognition and autonomous vehicle body maneuvering. For the former, we intended to take the recognition technique developed in MBARI. For the latter, we have measured real dynamics of the PICASSO-1 vehicle, preparing kinematics model of the vehicle. We want to operate the vehicle with the autonomous mode by the end of next fiscal year. Copyright © 2008 by The International Society of Offshore and Polar Engineers (ISOPE).
    No preview · Article · Jan 2008
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