NDLI: Underwater volcano observation by autonomous underwater vehicle "r2D4"

Content Provider	IEEE Xplore Digital Library
Author	Nasahashi, K. Ura, T. Asada, A. Obara, T. Sakamaki, T. Kim, K. Okamura, K.
Copyright Year	2005
Description	Author affiliation: Mitsui Eng. & Shipbuilding Co., Ltd., Okayama, Japan (Nasahashi, K.)
Abstract	Based on the successes in development and field operations of AUV "R-One Robot", the Underwater Technology Research Center at the University of Tokyo established a five year project for a next generation long-range cruising type AUV from 2001, an AUV named "r2D4". The primary mission for "r2D4" is a survey of an undersea hydrothermal vent area. Construction of the hardware system as well as the primary software system were completed in July 2003. Special features of "r2D4" are the following: (1) Compact size and lightweight (length overall: 4.4 m, weight: 1,600 kg). (2) Operating max depth 4,000 m. (3) Highly accurate positioning by the combined instrumentation of fiber optic gyroscope and Doppler sonar. (4) "r2D4" has superior recognition ability on the complicated underwater environments transition by multiple sensor. (5) Adaptive path replanning ability for the observation. If the vehicle finds a suspicious place or an object in underwater space, it can regenerate the target path dynamically in order to make this observation. After the observation at Ryotsu Bay in the Sea of Japan and Kurosima knoll off Ishigaki Island, "r2D4" investigated the undersea hydrothermal vents at the area of Mariana Trough in June 2004. We succeeded in the observation of the plume from the undersea hydrothermal vents at NW Rota 1 Underwater Volcano with multiple sensor and still camera. We present the outline of the new AUV "r2D4" and the results of the survey.
Starting Page	557
Ending Page	562
File Size	1060672
Page Count	6
File Format	PDF
ISBN	0780391039
DOI	10.1109/OCEANSE.2005.1511775
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-20
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Volcanoes Underwater vehicles Vents Robots Underwater technology Hardware Software systems Instruments Optical fibers Gyroscopes
Content Type	Text
Resource Type	Article

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