Motion compensator for acoustic device mounted on Autonomous Surface Vehicle

Y. Hirakawa, T. Yoda, T. Takayama, T. Hyakudome, T. Nakatani
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引用次数: 2

Abstract

In recent days, the simultaneous operation of several AUVs is desired to realize widespread exploration in a navigation. As a method to realize the simultaneous operation, introduction the repeater vehicle called ASV (Autonomous Surface Vehicle) is proposed. The task of the ASV is to chase an AUV and to communicate with a support vessel. So, one ASV is needed for one AUV but several ASVs are monitored by one support vessel. The size of the ASV is similar to the AUV and is significantly smaller than the support vessel, so the seakeeping qualities are lower than the support vessel. Larger ship motion is expected than the support vessel and causes communication trouble. In this report, the new active motion compensator and the model experiment with this motion compensator is reported.
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安装在自主水面车辆上的声学装置运动补偿器
近年来,为了实现一次航行的大范围探测,需要多台水下机器人同时操作。作为实现同步作战的一种方法,提出了一种名为ASV (Autonomous Surface vehicle)的中继器。ASV的任务是追赶AUV并与支援船进行通信。因此,一个AUV需要一个ASV,但多个ASV由一艘支援船监控。ASV的尺寸与AUV相似,但明显小于支撑船,因此其耐波性低于支撑船。预计船只的运动比支援船更大,并造成通信问题。本文报道了一种新型主动运动补偿器及其模型实验。
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