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Landing Motion Control of an Underwater Glider for Ocean Floor Resources Exploration

机译：海底资源勘探水下滑翔机的着陆运动控制

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Ocean floor resources such as sea-floor hydrothermal deposit, methanehydrate and manganese nodule are promising resources for future oceandevelopment. It is becoming apparent by recent research that certainamount of these resources deposit also near Japan. Though several kindsof exploration methods such as seismic exploration, a multi-beam echosounder and a sub-bottom profiler which are equipped with a survey shipare used for the resource explorations in general, these explorationmethods need a large amount of cost and efforts.On the other hand, an autonomous underwater glider which equips anOBEM (Ocean Bottom Electromagnetometer) which has beendeveloped in the author’s laboratory is a hopeful instrument for the oceanfloor resources explorations. The autonomous vehicle has an ability toachieve a continuous resource exploration autonomously for a long term.The buoyancy and attitude control mechanism enable the vehicle tomove to the next measurement point by gliding.The landing point for the measurement must be precisely controlled bythe motion control system because the vehicle measures the slightvariation of electromagnet wave on the sea bottom. The performance ina landing stage is essential for the motion control of the vehicle. Here,the motion control system of a weight shift device in the vehicle’spressure container is developed for a landing stage. The authors attemptto make clear the performance of the controller in this report. Moreover,the characteristics of a buoyancy control device is examined by tankexperiments. This unit is used to raise the vehicle to an appropriate heightfor the next gliding.
机译：海底水热沉积物等海底资源，甲烷水合物和锰结节是未来海洋的有希望的资源发展。最近的研究变得显而易见这些资源存款的数量也在日本附近。虽然几种了勘探方法如地震勘探，多梁回声探测器和配备调查船的次底分布器用于资源探索一般，这些探索方法需要大量的成本和努力。另一方面，一种自动水下滑翔机，其装备了一个Obem（海底电磁计）已经在作者的实验室开发是海洋的一个充满希望的乐器地板资源探索。自治车辆有能力长期自主实现持续资源探索。浮力和姿态控制机制使车辆能够通过滑动移动到下一个测量点。测量的着陆点必须精确控制运动控制系统，因为车辆测量轻微电磁波波在海底上的变化。表现着陆阶段对于车辆的运动控制至关重要。这里，车辆中重量换档装置的运动控制系统压力容器是为着陆阶段开发的。作者尝试了要清除本报告中控制器的性能。而且，储罐检查了浮力控制装置的特性实验。该装置用于将车辆升至适当的高度对于下一个滑翔。

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