Proposal Of Propulsion Unit Based On Earthworm Setae For Underwater Excavation Robot

In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the bristlesattached propulsion unit. Comparing the measurement result of the bristles-attached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit

資源探査AUVのデザインコンセプトと開発状況

第29回日本ロボット学会学術講演会（2011年9月7日～9日, 芝浦工業大学豊洲キャンパス

Dives of cruising-AUV "JINBEI" to methane hydrate area on Joetsu knoll and Umitaka Spur

Autonomous Underwater Vehicle "JINBEI", constructed in 2012, is a cruising type AUV with a weight of 2 ton and a length of 4.0m. The major purposes are observation of underwater CO2 distribution in deep sea and exploration of seabed mineral resources. It has four rear-thrusters, two mid-ship azimuthal thrusters, and a rear X-rudder. The AUV is equipped with three main sensors; a multi-beam echo sounder, a side scan sonar, and a hybrid CO2-pH sensor. During KY12-10 cruise in August 2012, we deployed "JINBEI" at a methane hydrate area in Joetsu knoll and Umitaka Spur, Japan Sea. The depth of the area is 850-950m. The vehicle cruised over the methane hydrate area at a speed of 2 knots. We obtained high-resolution side scan images of hydrate mounts as well as methane plumes. At same time, the CO2-pH sensor detected the methane plumes indirectly. Through the dives, we confirmed that the cruising AUV "JINBEI" is one of powerful tool for survey of scientific observations.Date of Conference: 23-27 September 2013http://www.godac.jamstec.go.jp/darwin/cruise/kaiyo/ky12-10/

Working-AUV "Otohime" and its sea trials at Sagami Bay

Since October 2010, JAMSTEC has developed two autonomous uderwater vehicles (AUVs); a cruising-AUV "Jinbei" and a working-AUV "Otohime". Their major purposes are to observe underwater CO2 distribution around carbon dioxide capture and storage field, and to explore seabed mineral resources in Japan's EEZ. The cruising-AUV performs wide area survey with sonars and chemical sensors. According to the survey results, the working-AUV "Otohime" accesses feature points and observes seafloor in detail, with its chemical sensors, cameras, and a manipulator. In this paper, we introduce the newly developed AUV "Otohime" and its sea trials at Sagami Bay. Through two dives at the depth of 80-120m for total 3 hours operation, we verified the performance of the overall hardware / software systems.IEEE International Symposium on Underwater Technology (UT2013, 5-8 March 2013, University of Tokyo, Japan)http://www.godac.jamstec.go.jp/darwin/cruise/kaiyo/ky12-05/

Proposal Of Propulsion Unit Based On Earthworm Setae For Underwater Excavation Robot

In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the bristlesattached propulsion unit. Comparing the measurement result of the bristles-attached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit