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We have conducted the basic research on long horizontal communication using time reversal in the deep ocean, which will be applied for communicating with an autonomous underwater vehicle (AUV) in the future. To achieve such communication, time reversal is an attractive solution. Because intersymbol interferences (ISI) are removed and signal noise ratio is improved. In our previous studies, a method...
In this paper, a basic study on acoustic navigation for long range cruising AUV is described. Typically the position of AUV can be estimated by measuring the range between the AUV and acoustic sources or bearing of the acoustic signal. In long range observation, it is difficult to estimate these parameters in three dimensional. Depth can be directly sensed by depth sensor, then we can estimate the...
The Japan Agency for Marine-earth Science and Technology is now developing an automatic bottom inspection and sampling mobile, ABISMO, which is a full depth rating remotely operated vehicle for conducting research at the deepest sea bottom, observing the area with a camera, and sampling the bottom layer.
An autonomous underwater vehicle (AUV) can achieve precise observation in the sea. Also in Japan agency for Marine-earth Science and Technology (JAMSTEC) some observations with AUV ldquoURASHIMArdquo have been implemented mainly in deep ocean. Tracking or navigation of the AUV is significant to make the observations more valuable. Almost AUV equips an inertial navigation system (INS) to navigate own...
This paper proposes a visual navigation system for an unmanned aerial vehicle to track a moving ground object in a GPS-denied environment. Image processing combines a target tracker which provides pixel coordinates of a ground target, and the estimation of optical flow around the detected target position. An extended Kalman filter is applied to estimate position and velocity of the target as well...
In recent years, precious observations by autonomous underwater vehicle (AUV) have been performed. Tracking and navigation of AUV are important for precious observations. In Japan agency for Marine-earth Science and Technology (JAMSTEC) the observations with AUV ldquoURASHIMArdquo have been implemented in deep ocean area. AUV URASHIMA is navigated by an inertial navigation system (INS) mainly. The...
In out research program, research and development on a long cruising autonomous underwater vehicle (AUV) are promoted. In such AUV operation, it is very significant to establish acoustic communication even at low data-transmission rate. Time-reversal techniques have a possibility to realize such long horizontal communication, which converge multipath signals to the focus, decrease intersymbol interference...
Recently, a number of bacteria including new one have been found from mud samples of Challenger Deep in the Mariana Trench. In order to get those samples or the sediment core in there, an underwater vehicle, which can dive to the deepest ocean and carry out the task, is needed, however, currently, there is no such vehicle in the world. So Japan Agency for Marine-Earth Science and Technology (JAMSTEC)...
The super short base line (SSBL) method of the acoustic underwater positioning is commonly used due to the simplicity to operation. Though the accuracy of each single shot positioning is not so high. The SSBL for the autonomous underwater vehicle (AUV) becomes more accurate and helpful to navigate the AUV by transmitting the data obtained in each side of seabed and surface such as Global Positioning...
The super short base line (SSBL) method of the acoustic underwater positioning is commonly used due to the simplicity to operation. Though the accuracy of each single shot positioning is not so high. The SSBL for the autonomous underwater vehicle (AUV) becomes more accurate and helpful to navigate the AUV by transmitting the data obtained in each side of seabed and surface. The usefulness of this...
JAMSTEC has developed the two types of underwater vehicle since 2005: an ROV to the oceans' deepest depth called ASSS11k (advanced sediment sampling system to 11,000 meter) and a hybrid underwater vehicle for use in shallow-water to mid-depth zones named PICASSO (Plankton Investigatory Collaborating Autonomous Survey System Operon). The most important purpose of the ASSS11k is to get a lot of mud...
Recently, a number of bacteria have been found from a mud sample of Challenger Deep in the Mariana Trench. Sampling those sediment samples, an ROV to the oceans' deepest depth is needed. But no vehicle gets to the deepest depth in the world. Scientists want to continuously explore the deepest parts of the oceans with a vehicle equipped with sediment samplers. JAMSTEC started developing a sediment...
JAMSTEC has been developing the remotely operated vehicle system having a limited role to explore the deepest parts of the oceans since April 2005. This ROV system's main mission is to survey sediments in sea bottoms. This system consists of a launcher and a small vehicle. The launcher carries two types of bottom samplers as well as the vehicle. One launches the small vehicle to make a preliminary...
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