 |
 Descending motion of a launcher model of a compact deep-sea monitoring robot system(Gallery, Marine Dynamics Research Group) |
 |
Experiment for measuring descending motion of a launcher model (Length; 845.8mm) of a compact deep-sea monitoring robot system was carried out at the deep-sea model basin (35-meter depth) in NMRI. Launcher, having fins fore and rudders aft, approaches to a target point at seafloor using rudders during descending motion driven by gravity. Length between center of buoyancy and center of gravity (BG) and conditions with or without fins have significant effect on horizontal movement of the launcher. |
  With fin condition (BG; 4.2mm, Rudder angle; 15deg)In case of short BG, the launcher inclines largely and moves horizontally fast by large fin force. |
 With fin condition (BG; 52.7mm, Rudder angle; 15deg)In case of long BG, inclination angle become small and horizontal movement is opposite direction to that in short BG case. |
 Without fin condition (BG; 53.7mm, Rudder angle; 15deg)In case of long BG, without fin condition shows faster horizontal velocity than with fin condition. |
 Measurement of descending motionThree dimensional position and movement of color marks attached on the launcher model were measured using an optical measuring system of the deep-sea basin. Change of color implies change of underwater cameras aligned vertically for measurement. |
|
[ BACK ] [ NMRI HOME ] |
 |