208303 作業型自律探査機「MR-X1」の開発(OS17 ロボティクス・メカトロニクス4,オーガナイズド・セッション)

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This paper describes the working autonomous underwater vehicle "MR-X1" which has been developed by JAMSTEC. It is used for a test bed of advanced elemental technologies for underwater such as a navigation system, a control system and a power supply system. And also, it can perform a variety of mission as a working AUV. For example, it can track marine organism and take images using camera systems. And also it can observe the seafloor using acoustic devices and can perform light works such as the sensor setting/retrieving on the seafloor. It changes the equipment depending on the mission type. Recently, it was equipped with a columnar mud sampler and then it gets the sedimentary layers of seafloor. And other times, it cruised on a sea hill with a cesium magnetometer to measure the changing of the geomagnetism. And it was equipped with a magnetometer and set it on the previously-determined area autonomously to precisely measure the geomagnetism. In this paper, the outline of MR-X1 and some newly-developed technologies are described with some results of a sea trial.
2011-03-17