NATSUSHIMA Cruise Report NT09‐04 Sagami Bay 21.March.2009 – 27.March.2009 Japan Agency for Marine‐Earth Science and Technology (JAMSTEC)
NATSUSHIMA Cruise Report
NT09‐04
Sagami Bay
21.March.2009 – 27.March.2009
Japan Agency for Marine‐Earth Science and Technology (JAMSTEC)
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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
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1. Cruise Information
Cruise Number : NT09‐04
Ship Name : "Natsushima"
Title of the Cruise : Sea Trial of AUV "MR‐X1"
Title of Proposal : ”Development of Autonomous Underwater Vehicle” & “Study for Remote Control of Underwater Vehicle
via Artificial Satellite”
Cruise Period : 21 March 2009 ‐ 27 March 2009
Port Call : JAMSTEC (Departure) – JAMSTEC (Back)
Experiment Area : Sagami Bay 34.92Lat. 139.26Long. , 35.00Lat. 139.12Long. 35.25Lat. 139.25Long. , 35.25Lat. 139.42Long. 34.92Lat. 139.417Long. (Depth: 200 ‐1,500m)
Fig.1 Experimental diving point in the Sagami Bay
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2. Reseachers
Chief Scientist : HYAKUDOME Tadahiro [JAMSTEC ‐ Marine Technology Center]
Representative of Science Party : YOSHIDA Hiroshi [JAMSTEC ‐ Marine Technology Center]
Science party (List) NAKAMURA Masahiko [JAMSTEC – Marine technology Center, Vehicle] SAWA Takao [JAMSTEC – Marine technology Center, Vehicle] TAHARA Junichiro [JAMSTEC – Marine technology Center, Vehicle] ISHIBASHI Shojiro [JAMSTEC – Marine technology Center, Vehicle] KIMOTO Katunori [JAMSTEC – IFREE, Vehicle] SUNAGWA Kei [JAXA, Satellite Communication] SHINOZAKI Akihiko [JAXA, Satellite Communication] HOHASHI Makoto [Association of Radio Industries and Businesses,
Satellite Communication] SAITO Takashi [Mitsubishi Electric TOKKI Systems Corporation, Laser] OKAMOTO Shogo [Mitsubishi Electric TOKKI Systems Corporation, Laser] 3. Experiment Background :
In late years, deep‐sea investigation becomes important for a study about the global warming and study about ocean earthquake. In addition, high maneuverability underwater vehicle is expected for the studies such as middle‐deep depth creatures. Moreover, real‐time ocean observation from the distance land place becomes also important that anyone can operate underwater vehicle from there laboratory and obtain underwater pictures at real time in spite of being a land. The purpose of research and development is to make use unmanned underwater vehicle to these studies and observation. In the sea trial, an autonomous underwater vehicle "MR‐X1" is tested the performance of maneuverability, observation ability, communication technology and so on.
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Outline :
The sea trial is carried out for the data acquisition for the performance confirmation and improvement of the essential technology of autonomous underwater vehicle. The items of performance test are control platform of the whole vehicle by a distributed system that developing newly, maneuver control designed by LQI control theory, remote control test via article satellite, basics characteristic test about laser communication and multipurpose underwater vehicle.
Experiment items :
1) Underwater Navigation The underwater navigation is carried out with the optical communication. The vehicle is checked several functions such that control platform by the distributed system, maneuverability of the vehicle motion controlled by modern control theory.
2) Remote Control test via Article Satellite The test is carried out that the vehicle can be remote controlled from land base station by monitoring underwater pictures send via engineering test satellite VIII “KIKU No.8”.
3) Performance Test of Multi‐purpose Underwater Vehicle The Multi‐purpose Underwater Vehicle (MUV) is set up under the vehicle as payload. And the MUV is checked it’s handling on the shipboard and weight.
4) Water Sampling and Measurement by CTD sensor Water sampling and CTD measurement is carried out at surface, middle‐depth and deep‐depth.
5) The Basics Characteristic Test about Laser Communication The underwater propagation loss measurement in the actual sea area of the laser is tested.
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MR-X1(Standard Type)
Fig.2 Overview of "MR‐X1"
Fig.3 General Arrangement of "MR‐X1"
Specifications of the vehicle
Weight in the air : 800 ‐ 900kg Size : 2.5 (L) x 0.8 (W) x 1.2 (H) Maximum Depth : 4,000m Cruising Speed : 2 knots Operation Time : 15 hours Operation Mode : UROV (with Optical Fiber) / Autonomous /
Remote Control (under development) Navigation Devices : Inertial Navigation System, Depth meter
Doppler Velocity Log, Altimeter Observation Devices : TV camera, Side Scan Soner
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Experiment of Remote Control via Article Satellite
Fig.4 Concept of Remote Control of surfaced AUV
Underwater Laser Measurement System
Fig.5 Conception Diagram of Laser System
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Cruise Log
NT09‐04 Schedule
Date “NATSUSHIMA” Test Area Contents
2009
20, March (Friday)
Fittings Check
JAMSTEC Equipment of the Ship Check of System
21, March (Saturday)
Departure JAMSTEC – Sagami Bay
Preparations (Vehicle &Laser Communication)
22, March (Sunday)
Experiment 1, 2 Sagami Bay 1. Laser Communication 2. Combined MUV to the
vehicle
23, March (Monday)
Experiment 3 Sagami Bay 1. launch and recovery test
of the vehicle
24, March (Tuesday)
Experiment 4, 5 Sagami Bay 1. Laser Communication 2. Underwater Navigation of
the Vehicle
25, March (Wednesday)
Experiment6 Sagami Bay near by
Hatsushima
1. Remote Control test via Article Satellite
26, March (Thursday)
Experiment 7, 8 Sagami Bay near by
Hatsushima
1. Laser Communication 2. Remote Control test via
Article Satellite
27, March (Friday)
Return to Port JAMSTEC Remove fittings
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Experiment results 2009 March 22 Test Point: 34.99Lat. 139.115Long.
The underwater propagation loss measurement of the laser with the laser measurement device was carried out in the western sea area of Hatsushima‐island offshore in the Sagami Bay. The underwater propagation measurement of the laser was carried out in depth of 200m, 50m and 15m. Good data were obtained by the laser experiment. Because weather turned worse after the laser propagation loss measurement, the underwater navigation test of the vehicle “MR‐1” which planned in the afternoon was cancelled. The docking test of the “MR‐X1” and the MUV on the shipboard was carried out.
Fig.6 Launch Scene of Laser Communication Deveice
Fig.7 Combined MUV to MR‐X1
MUV
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2009 March 23 Test Point: 35.105Lat. 139.265Long.
The water propagation loss experiment of the laser was planned in the morning, but the experiment was canceled because undulation was big. After undulation was small in the afternoon, launch and recovery test of the vehicle was carried out. Let the vehicle float on the surface and the functions of the vehicle was checked, and method of launch, towing and recovery by the mother ship “NATSUSHIMA” was confirmed at the test.
Fig.8 The scene of recovery test
2009 March 24 Test Point: 34.99Lat. 139.115Long.
The underwater propagation loss measurement of the laser with the laser measurement device was carried out in the western sea area of Hatsushima‐island offshore in the Sagami Bay. The underwater propagation profile of the laser from surface to 500m depths was measured. Test Point: 35.02Lat. 139.163Long. In 150m depths sea area, an underwater navigation experiment of the vehicle was carried out in the afternoon. The vehicle dived to 80m depths, and checked buoyancy, status and functions of equipped devices, and it was confirmed that they worked well.
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2009 March 25 Test Point: 35.05Lat. 139.167Long.
An experiment about the remote control of the vehicle via article satellite was carried out on board in the morning in a sea area within the range of 1km from Hatsushima‐island. The satellite communications line was established between an ocean station which put on the vehicle, a exchange station of Hatsushima‐island and a base station of the JAMSTEC Yokosuka headquarters. The status of the vehicle which ion the surface of the Sagami bay and obtained image data could receive in Yokosuka station was confirmed, and the vehicle was remote controlled well by the command sent to from Yokosuka. An experiment about the remote control of the vehicle via article satellite in the sea surface was performed. After let the vehicle on the surface of the sea, it was confirmed that a communication state with the article satellite was good, but a remote control experiment was stopped because optical fiber was cut off during the preparations for remote control experiment of the vehicle operation command dispatch from Yokosuka base station, and the vehicle was recovered.
Fig.9 MR‐X1 with Satellite Antenna
Omni Antenna
Antenna + Tracking System
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2009 March 26 Test Point: 34.99Lat. 139.115Long.
The underwater propagation loss measurement of the laser with the laser measurement device was carried out in the western sea area of Hatsushima‐island offshore in the Sagami Bay. The underwater propagation profile of the laser from surface to 500m depths was measured. Test Point: 35.05Lat. 139.167Long. An experiment about the remote control of the vehicle via article satellite in the sea surface was performed. The satellite communications line was established between an ocean station which put on the vehicle in the surface of the sea, a exchange station of Hatsushima‐island and a base station of the JAMSTEC Yokosuka headquarters. The status of the vehicle which ion the surface of the Sagami bay and obtained image data could receive in Yokosuka station was confirmed, and the vehicle was remote controlled well by the command sent to from Yokosuka.
Fig.10 The scene of Remote Control test via Article Satellite
of Surfaced Vehicle
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4. Notice on using This cruise report is a preliminary documentation as of the end of the cruise.
It may not be corrected even if changes on content (i.e. taxonomic classifications) are found after publication. It may also be changed without notice. Data on the cruise report may be raw or not processed. Please ask the Chief Scientist for the latest information before using. Users of data or results of this cruise are requested to submit their results to Data Integration and Analysis Group (DIAG), JAMSTEC.