natsushima cruise report nt09 04 - godac contents 1. cruise information ..... 3 2. reseachers...

Download NATSUSHIMA Cruise Report NT09 04 - GODAC   Contents 1. Cruise Information ..... 3 2. Reseachers ..... 4

Post on 31-Mar-2018

214 views

Category:

Documents

2 download

Embed Size (px)

TRANSCRIPT

  • NATSUSHIMACruiseReport

    NT0904

    SagamiBay

    21.March.200927.March.2009

    JapanAgencyforMarineEarthScienceandTechnology(JAMSTEC)

  • 2

    Contents

    1. Cruise Information ....................................................................................... 3 2. Reseachers ..................................................................................................... 4 3. Experiment .................................................................................................... 4

    Background .................................................................................................... 4 Outline ........................................................................................................... 5 Experiment items .......................................................................................... 5 MR-X1(Standard Type) ................................................................................. 6 Experiment of Remote Control via Article Satellite .................................... 7 Underwater Laser Measurement System .................................................... 7 Cruise Log ...................................................................................................... 8 Experiment results ........................................................................................ 9

    4. Notice on using ............................................................................................ 13

  • 3

    1. Cruise Information

    CruiseNumber:NT0904

    ShipName :"Natsushima"

    TitleoftheCruise:SeaTrialofAUV"MRX1"

    TitleofProposal:DevelopmentofAutonomousUnderwaterVehicle& StudyforRemoteControlofUnderwaterVehicle

    viaArtificialSatellite

    CruisePeriod :21March200927March2009

    PortCall :JAMSTEC(Departure)JAMSTEC(Back)

    ExperimentArea:SagamiBay34.92Lat. 139.26Long., 35.00Lat. 139.12Long.35.25Lat. 139.25Long., 35.25Lat. 139.42Long.34.92Lat. 139.417Long. (Depth:2001,500m)

    Fig.1ExperimentaldivingpointintheSagamiBay

  • 4

    2. Reseachers

    ChiefScientist:HYAKUDOMETadahiro[JAMSTECMarineTechnologyCenter]

    RepresentativeofScienceParty:YOSHIDAHiroshi[JAMSTECMarineTechnologyCenter]

    Scienceparty(List) NAKAMURAMasahiko [JAMSTECMarinetechnologyCenter,Vehicle] SAWATakao [JAMSTECMarinetechnologyCenter,Vehicle] TAHARAJunichiro [JAMSTECMarinetechnologyCenter,Vehicle] ISHIBASHIShojiro [JAMSTECMarinetechnologyCenter,Vehicle] KIMOTOKatunori [JAMSTECIFREE,Vehicle] SUNAGWAKei [JAXA,SatelliteCommunication] SHINOZAKIAkihiko [JAXA,SatelliteCommunication] HOHASHIMakoto [AssociationofRadioIndustriesandBusinesses,

    SatelliteCommunication] SAITOTakashi [MitsubishiElectricTOKKISystemsCorporation,Laser] OKAMOTOShogo [MitsubishiElectricTOKKISystemsCorporation,Laser]3. Experiment Background:

    In late years, deepsea investigation becomes important for a studyabout theglobalwarmingand studyaboutoceanearthquake. In addition,highmaneuverabilityunderwatervehicleisexpectedforthestudiessuchasmiddledeepdepth creatures.Moreover, realtimeoceanobservation fromthe distance land place becomes also important that anyone can operateunderwatervehiclefromtherelaboratoryandobtainunderwaterpicturesatrealtimeinspiteofbeingaland.Thepurposeofresearchanddevelopmentis to make use unmanned underwater vehicle to these studies andobservation. Intheseatrial,anautonomousunderwatervehicle"MRX1" istestedtheperformance of maneuverability, observation ability, communicationtechnologyandsoon.

  • 5

    Outline :

    Thesea trial iscarriedout for thedataacquisition for theperformanceconfirmationand improvementof theessential technologyofautonomousunderwatervehicle.The itemsofperformance testarecontrolplatformofthewholevehiclebyadistributedsystemthatdevelopingnewly,maneuvercontrol designed by LQI control theory, remote control test via articlesatellite, basics characteristic test about laser communication andmultipurposeunderwatervehicle.

    Experiment items:

    1)UnderwaterNavigation The underwater navigation is carried out with the opticalcommunication.Thevehicleischeckedseveralfunctionssuchthatcontrolplatformbythedistributedsystem,maneuverabilityofthevehiclemotioncontrolledbymoderncontroltheory.

    2)RemoteControltestviaArticleSatellite ThetestiscarriedoutthatthevehiclecanberemotecontrolledfromlandbasestationbymonitoringunderwaterpicturessendviaengineeringtestsatelliteVIIIKIKUNo.8.

    3)PerformanceTestofMultipurposeUnderwaterVehicle The Multipurpose Underwater Vehicle (MUV) is set up under thevehicleaspayload.AndtheMUVischeckeditshandlingontheshipboardandweight.

    4)WaterSamplingandMeasurementbyCTDsensor Water sampling and CTD measurement is carried out at surface,middledepthanddeepdepth.

    5)TheBasicsCharacteristicTestaboutLaserCommunication Theunderwaterpropagationlossmeasurementintheactualseaareaofthelaseristested.

  • 6

    MR-X1(Standard Type)

    Fig.2Overviewof"MRX1"

    Fig.3GeneralArrangementof"MRX1"

    Specificationsofthevehicle

    Weightintheair : 800900kgSize : 2.5(L)x0.8(W)x1.2(H)MaximumDepth : 4,000mCruisingSpeed : 2knotsOperationTime : 15hoursOperationMode : UROV(withOpticalFiber)/Autonomous/

    RemoteControl(underdevelopment)NavigationDevices : InertialNavigationSystem,Depthmeter

    DopplerVelocityLog,AltimeterObservationDevices : TVcamera,SideScanSoner

  • 7

    Experiment of Remote Control via Article Satellite

    Fig.4ConceptofRemoteControlofsurfacedAUV

    Underwater Laser Measurement System

    Fig.5ConceptionDiagramofLaserSystem

  • 8

    Cruise Log

    NT0904Schedule

    DateNATSUSHIMA TestArea Contents

    2009

    20,March(Friday)

    FittingsCheck

    JAMSTECEquipmentoftheShipCheckofSystem

    21,March(Saturday)

    DepartureJAMSTECSagamiBay

    Preparations(Vehicle&LaserCommunication)

    22,March(Sunday)

    Experiment1,2 SagamiBay1. LaserCommunication2. CombinedMUVtothe

    vehicle

    23,March(Monday)

    Experiment3 SagamiBay1. launchandrecoverytest

    ofthevehicle

    24,March(Tuesday)

    Experiment4,5 SagamiBay1. LaserCommunication2. UnderwaterNavigationof

    theVehicle

    25,March(Wednesday)

    Experiment6SagamiBaynearby

    Hatsushima

    1. RemoteControltestviaArticleSatellite

    26,March(Thursday)

    Experiment7,8SagamiBaynearby

    Hatsushima

    1. LaserCommunication 2. RemoteControltestvia

    ArticleSatellite

    27,March(Friday)

    ReturntoPort JAMSTEC Removefittings

  • 9

    Experiment results 2009March22 TestPoint: 34.99Lat. 139.115Long.

    Theunderwaterpropagation lossmeasurementofthe laserwiththelasermeasurement devicewas carried out in thewestern sea area ofHatsushimaisland offshore in the Sagami Bay. The underwaterpropagationmeasurementofthelaserwascarriedoutindepthof200m,50mand15m.Gooddatawereobtainedbythelaserexperiment.Becauseweatherturnedworseafterthelaserpropagationlossmeasurement,theunderwaternavigation testof the vehicle MR1whichplanned in theafternoonwascancelled.ThedockingtestoftheMRX1andtheMUVontheshipboardwascarriedout.

    Fig.6LaunchSceneofLaserCommunicationDeveice

    Fig.7CombinedMUVtoMRX1

    MUV

  • 10

    2009March23 TestPoint: 35.105Lat. 139.265Long.

    Thewaterpropagationlossexperimentofthelaserwasplannedinthemorning,but theexperimentwascanceledbecauseundulationwasbig.Afterundulationwassmall intheafternoon, launchandrecoverytestofthevehiclewascarriedout.Let thevehicle floaton thesurfaceand thefunctionsofthevehiclewaschecked,andmethodof launch,towingandrecoverybythemothershipNATSUSHIMAwasconfirmedatthetest.

    Fig.8Thesceneofrecoverytest

    2009March24 TestPoint: 34.99Lat. 139.115Long.

    Theunderwaterpropagation lossmeasurementofthe laserwiththelasermeasurement devicewas carried out in thewestern sea area ofHatsushimaisland offshore in the Sagami Bay. The underwaterpropagation profile of the laser from surface to 500m depths wasmeasured.TestPoint: 35.02Lat. 139.163Long. In150mdepthsseaarea,anunderwaternavigationexperimentofthevehiclewascarriedoutintheafternoon.Thevehicledivedto80mdepths,andcheckedbuoyancy,statusand functionsofequippeddevices,and itwasconfirmedthattheyworkedwell.

  • 11

    2009March25 TestPoint: 35.05Lat. 139.167Long.

    An experiment about the remote control of the vehicle via articlesatellitewascarriedoutonboardinthemorninginaseaareawithintherangeof 1km fromHatsushimaisland.The satellite communications linewas established between an ocean stationwhich put on the vehicle, aexchangestationofHatsushimaislandandabasestationoftheJAMSTECYokosukaheadquarters.Thestatusofthevehiclewhichionthesurfaceofthe Sagami bay and obtained image data could receive in Yokosukastationwasconfirmed,andthevehiclewasremotecontrolledwellbythecommandsenttofromYokosuka. An experiment about the remote control of the vehicle via articlesatelliteintheseasurfacewasperformed. Afterletthevehicleonthesurfaceofthesea,itwasconfirmedthatacommunication statewith the article satellitewas good, but a remotecontrolexperimentwasstoppedbecauseopticalfiberwascutoffduringthepreparationsforremotecontrolexperimentofthevehicleoperationcommand dispatch from Yokosuka base station, and the vehicle wasrecovered.

    Fig.9MRX1withSatelliteAntenna

    Omni Antenna

    Antenna + Tracking System

  • 12

    2009March26 TestPoint: 34.99Lat. 139.115Long.

    Theunderwaterpropagation lossmeasurementofthe laserwiththelasermeasurement devicewas carried out in thewestern sea area ofHatsushimaisland offshore in the Sagami Bay. The underwaterpropagation profile of the laser from surface to 500m depths wasme

Recommended

View more >