19 pp.7-17 2006 Development of Deep Sea Cruising Autonomous Underwater Vehicle Taro Aoki Abstract The URASHIMA, a third-generation AUV (Autonomous Underwater Vehicle), can dive to a depth of 3,500 meters, and cruise for a range of 300 kilometers. The third-generation AUV is defined to have a long range cruising ability at greater depths. Many countries around the world have been promoting development of third-generation AUVs. URASHIMA could dive to 3,518 meters depth at 2001. And, at the end of February 2005, URASHIMA was able to cruise autonomously and continuously for 317 kilometers beyond its target range, 300 kilometers. This record is the longest one in the world. Neither light nor electromagnetic waves can reach the deep-sea. The deep-sea areas we know of constitute only a small fraction of the entire deep-sea. The information that can be obtained by artificial satellites is limited to that pertaining to the surface or subsurface portions of the sea. Today, man dose not have a means to canvass the entire deep-sea at one time. If a number of AUVs like the URASHIMA autonomously cruise at various deep-sea areas of the world, man will then, for the first time, be able to get the entire picture of the deep-sea. Keywords: AUV, robot, fuel cell, metal hydride, INS 10 AUV; Autonomous Underwater Vehicle 12 12 12 4 1,753 13 3,500m 3,518m 17 300km 317km 3,500m GPS 14 C 14 C Received on August 24, 2006
8 2006 12 10m 1 AUV 10 m 1.3 m 1.5 m 10 tons 300 km 3,500 m 3 kn. Maximum 4 kn SSBL (, ) AUV 2,000 3,500 6500 0.5 6500 1950
9 0.8 0.9 1.03 INS: Inertial Navigation System 2 12 0. 15 0. 300kHz 150m 10km 300km 55 0.1 / 10km CCDE Closed Cycle Diesel Engine RI Radio Isotope CCDE
10 2006 12 300km 70 2000 6500 7,000m ROV Remotely Operated Vehicle UROV7K 30Ah 150Wh/kg 1.5 30Ah 11 100Ah 6500 400Ah 120V400Ah 120V100Ah 3 1.5kW kw 10 12 14 14
11 Down Up 1 LAN 2Mbps 2.4GHz SS Serial 2kbps 32kbps MSK (max) QAM/DPSK Serial 32Mbps 620Mbps PCM CPU CPU LAN UROV UROV mm
12 2006 12 UROV Q Q UPLINK TV 11 AUV 20kHz khz 1 Pa db re 1 Pa 10dB 12 6500
13 m TV TV TV 250cc 200 CTDO 14 C TV 5 100 200m 80 100m 30m
14 2006 12 GPS GPS ANS INS GPS INS ANS INS INS Start 10 3 SSBL SSBL: Super Short Base Line Array SSBL km 50 70 SSBL 12km km 30km 300m
15 P P20 P2 P3 P10 P11 P18 P19 P6 P7 P14 P15 P7 P9 P15 P17 P3 P5 P11 P13 P19 P20 P1 P2 P6 P10 P14 P18 800m 56 317km 16 SSBL INS INS INS 60deg 4,100m UPLINK 20kHz QAM Quadrature Amplitude Modulation 32kbps DOWNLINK 9.5kHz MSK Minimum Shift Keying kbps SN 3,500m
16 2006 12 10 TV 3,000 1,100 2 3,000 3,000 pp274-279 1996. T.Aoki, S.Shimura, T.Murashima, H.Nakajoh,S. Tsukioka; Development of Fuel Cell Power Source for Long Range AUV, Underwater Intervention 97 MTS/IEEE, Vol.1, pp74-81,1997. T.Aoki, T.Murashima, S.Tsukioka, H.Nakajoh; Deep and Long Range Cruising AUV Hybrid-powered with Li-ion and Fuel Cell, Underwater Intervention 2001,CDROM, 2001. T.Aoki, T.Murashima, S.Tsukioka, H.Nakajoh, T.Hyakudome; Cruising Autonomous Underwater Vehicle, ISOPE2002, Vol.2, pp315-318,2002. PEFC 10 pp90-95 2003. T.Hyakudome, T.Aoki, S.Tsukioka, H.Yoshida, S.Ishibashi, T.Inada, T.Kabeno, T.Maeda, K.Hirokawa, K.Yokoyama, T.Tani, R.Sasamoto, Y.Nasuno; Fuel Cell Underwater vehicle "URASHIMA", Proc. of 14th ISOPE Conf., Vol.2, pp.250-254, 2004.
17 S.Ishibashi, T.Aoki, I.Yamamoto, S.Tsukioka, H.Yoshida, T.Hyakudome, T.Sawa, T.Inada, A.Ishikawa, K.Hirokawa, K.Yokoyama, T.Tani; Deep-Sea Cruising AUV URASHIMA?Challenge to the Record for the Autonomous Navigation- Proc. of 15th ISOPE Conf., Vol.2 pp.246-251, 2005. S.Tsukioka, T.Aoki, I.Yamamoto, H.Yoshida, T.Hyakudome, S.Ishibashi, T.Sawa, T.Inada, A.Ishikawa, K.Hirokawa; Prospective Deep Sea Detailed Survey with the AUV Urashima, Proc. of 15th ISOPE Conf., Vol.2 pp.252-258, 2005. pp.23-26 2005. 10 pp.27-28 2005.