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Underwater Robotics Research Group

UNDERWATER ROBOTICS

This group is developing AUVs (Autonomous Underwater Vehicles), ASVs (Autonomous Surface Vehicles), formation technology for multiple AUVs, and seafloor exploration technology using AUVs.

Members

(◎: Head of the Group)

Kanako KOBATAKE
Jun UMEDA (Concurrent post)
Toru NAKANISHI (Concurrent post)

Research Introduction

Marine surveys by AUVs

Seafloor topography sonar observation

Submarine caldera

In December 2016, we deployed navigational AUVs 1 and 2, Hobarin, and an offshore transponder to conduct a seafloor survey of the Omuro Hole (off Izu Oshima).

Figure1 Survey lines of AUVs No.1 and No.2

Source: "A New Strategy for Next-Generation Oceanographic Research: Toward the Realization of Highly Efficient and Accurate Oceanographic Research through the Simultaneous Deployment of Multiple AUVs."

Figure2 Seafloor topography of
the Omuro Hole observed
by the navigational AUV No.2

Figure3 Acoustic image of hydrothermal plume
captured by sonar at Unit 2

Source: "Near-Bottom Survey of a Hydrothermal Vent Site by Deploying an Unmanned Exploration Unit of ASV-Controlled Multiple AUVs"

Electric field anomaly near hydrothermal ore deposit

Hydrothermal ore deposit (chimneys/mounds)

In October 2018, we conducted a seafloor survey in the Ogasawara Islands area and observed electric field anomalies near submarine hydrothermal deposits.

Figure4 Natural potential observation
(just before AUV diving)

Figure5 Observation results
(AUV altitude 80 m, navigation speed 1.8 m/s)

Source: "Measurement of Potential Anomalies in Submarine Hydrothermal Deposits

Undersea video camera shooting

Hydrothermal vents (chimneys)

In October 2017, a low-altitude submarine survey of the waters west of Kumejima was conducted by the Hobalin.

Figure6 Configuration of
the hovering AUV "Hobalin"

Figure7 Photography of a chimney
(submarine hydrothermal vent)

Source: "Development Status of the Hovering AUV "Hobalin""

Benthic fish

In April 2018, we conducted a submarine survey of Suruga Bay and successfully captured video images of benthic fish using a 4K video camera mounted on the "Hobalin."

Figure8 Performance verification test
in Suruga Bay

図9 Benthic fish shooting video

Source: "Development Status of the hovering AUV "Hobalin""

In May 2018, a submarine survey of the Ogasawara Islands' Sofugan was conducted and footage of killer whales filmed by Hobarin was broadcast in the NHK special "Secret Island Exploration Tokyo Lost World Vol. 2: Sofugan."

Reference Web site: "Secret Island Exploration Tokyo Lost World Vol. 2: Sofugan" (in Japanese)

Survey of lake bottom ruins

In June 2018, we surveyed a lake bottom site in Lake Biwa (the Tsuzura Ozaki Lake Bottom Site) and confirmed the location of a jar approximately 1,000 years old.

Figure10 Survey of
Lake Bottom Archaeological Sites
(Confirmation of Lake Bottom Location)

Figure11 Ancient jar from
the Tsuzura Ozaki Lake Bottom Site

Source:"Optical investigation of archaeological remains on bottom of Lake Biwa by a hovering-type AUV "Hobalin" "

Offshore wind power generation facilities

In November 2018 and September 2019, we conducted demonstration tests of inspection work at offshore wind power generation facilities off the coast of Choshi by "Hobarin."

Figure12 R & D of inspection methods for offshore wind power facilities using AUVs

Source:「銚子沖洋上風力発電所における遠隔点検の実証実験について
～水中ロボット・空中ドローンを活用し、保守点検作業の自動化を目指す～」

Submarine fumaroles (CO2 seeps)

In October 2020, the "Hobarin" submersible was tested for CO2 seeps (areas of carbon dioxide seafloor plumes) in Mikama Bay, Shikinejima.

Reference video："The CO2 seep investigation by HOBALIN"

Technical Development of AUVs

AUV specification table

This group owns one ASV as an offshore transponder, four navigational AUVs and two hovering AUVs for the deep-sea floor (<2,000 m) surveys, one mini-AUV and one small ROV for the shallow-sea floor (<100 m) surveys, and conducts R & D and marine research.

Figure13 AUV & ASV Specifications

Multiple AUV formation navigation --- Basic formation control (1ASV-5AUVs)

We are developing a technology that allows multiple AUVs to simultaneously dive and form up on the deep sea floor for efficient sonar observation of the seafloor topography.

Figure14 Concept of deep-sea floor AUV formation control

Source: "Innovative Research and Development Plan for Deep-sea Resource Investigation Technology."

Reference video: "New Approaches for Practical Simultaneous Operation of Multi-AUVs"

AUV control software --- ROS-based software development

We are developing software for multiple AUVs and underwater acoustic communication and positioning using ROS (Robot Operating System) We will provide this software to the private sector as AUV control software.

Figure15 "Conversion of
HOBARIN control software to ROS"

Figure16 Software
under development screen

Source: Development status of the hovering AUV "Hobarin"

AUV tank tests

We test AUVs, underwater sensors, etc. in the test tank at NMRI.

Figure17 mini-AUV

Source: "Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin"