1A2-M09 船底清掃を目的とした水中システムの開発 : 第2報:船底清掃用水中ロボットの姿勢制御(水中ロボット・メカトロニクス)

概要

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The sea transportation by ships covers most of trade, and the technologies for fuel efficiency and reductions of carbon-dioxide emissions should be developed. One of the technical issues to improve fuel efficiency of ships is how to prevent the marine biofouling to the ship hulls and remove organisms from ships. In general, the cleaning of ship hull is carried out on the ship inspection in dock yard or by divers in harbor. Frequent cleaning of ship walls is desirable to keep good fuel efficiency, however, the ship inspection on dock is done once a year and the cleaning by divers is high-cost and involves high risk. One of the solutions to the problem is to apply underwater robots into cleaning of ship surfaces. In this paper, we describe dynamics and motion control system of the underwater robots to clean ship surfaces.
一般社団法人日本機械学会の論文
2011-05-26