Successful repeated docking under fluctuating current disturbances in real Sea

Takuya Monden; Kohei Yamashita; Yoshiki Kanda; Horng Yi Hsu; Yuichiro Toda; Mamoru Minami

doi:10.23919/OCEANS40490.2019.8962590

Successful repeated docking under fluctuating current disturbances in real Sea

Takuya Monden, Kohei Yamashita, Yoshiki Kanda, Horng Yi Hsu, Yuichiro Toda, Mamoru Minami

School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

To extend the persistence time of an underwater operation of Autonomous Underwater Vehicles(AUVs) in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. In the previous studies, the repeated sea docking using a Remotely Operated Vehicle(ROV) was succeeded. However, during the experiment in the sea, ROV sometimes failed the docking due to the ocean current disturbance since ROV is hard to correct large error of orientation around z-axis. Therefore, we develop an autonomous rotary station that defects the ocean current direction for correcting the error between the ocean current direction and the docking direction. This paper presents the details of an autonomous rotary station and the analysis of the repeated sea docking experimental result.

Original language	English
Title of host publication	OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9780578576183
DOIs	https://doi.org/10.23919/OCEANS40490.2019.8962590
Publication status	Published - Oct 2019
Event	2019 OCEANS MTS/IEEE Seattle, OCEANS 2019 - Seattle, United States Duration: Oct 27 2019 → Oct 31 2019

Publication series

Name	OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019

Conference

Conference	2019 OCEANS MTS/IEEE Seattle, OCEANS 2019
Country/Territory	United States
City	Seattle
Period	10/27/19 → 10/31/19

Keywords

Autonomous rotary station
Docking
Error
Ocean current

ASJC Scopus subject areas

Automotive Engineering
Ocean Engineering
Acoustics and Ultrasonics
Fluid Flow and Transfer Processes
Oceanography

Access to Document

10.23919/OCEANS40490.2019.8962590

Cite this

Monden, T., Yamashita, K., Kanda, Y., Yi Hsu, H., Toda, Y., & Minami, M. (2019). Successful repeated docking under fluctuating current disturbances in real Sea. In OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019 Article 8962590 (OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/OCEANS40490.2019.8962590

Successful repeated docking under fluctuating current disturbances in real Sea. / Monden, Takuya; Yamashita, Kohei; Kanda, Yoshiki et al.
OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8962590 (OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Monden, T, Yamashita, K, Kanda, Y, Yi Hsu, H, Toda, Y & Minami, M 2019, Successful repeated docking under fluctuating current disturbances in real Sea. in OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019., 8962590, OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019, Institute of Electrical and Electronics Engineers Inc., 2019 OCEANS MTS/IEEE Seattle, OCEANS 2019, Seattle, United States, 10/27/19. https://doi.org/10.23919/OCEANS40490.2019.8962590

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title = "Successful repeated docking under fluctuating current disturbances in real Sea",

abstract = "To extend the persistence time of an underwater operation of Autonomous Underwater Vehicles(AUVs) in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. In the previous studies, the repeated sea docking using a Remotely Operated Vehicle(ROV) was succeeded. However, during the experiment in the sea, ROV sometimes failed the docking due to the ocean current disturbance since ROV is hard to correct large error of orientation around z-axis. Therefore, we develop an autonomous rotary station that defects the ocean current direction for correcting the error between the ocean current direction and the docking direction. This paper presents the details of an autonomous rotary station and the analysis of the repeated sea docking experimental result.",

keywords = "Autonomous rotary station, Docking, Error, Ocean current",

author = "Takuya Monden and Kohei Yamashita and Yoshiki Kanda and {Yi Hsu}, Horng and Yuichiro Toda and Mamoru Minami",

note = "Funding Information: This work is supported in part by Mitsui E&S Shipbuilding Corporation for the development of ROV. Publisher Copyright: {\textcopyright} 2019 Marine Technology Society.; 2019 OCEANS MTS/IEEE Seattle, OCEANS 2019 ; Conference date: 27-10-2019 Through 31-10-2019",

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AU - Monden, Takuya

AU - Yamashita, Kohei

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AU - Toda, Yuichiro

AU - Minami, Mamoru

PY - 2019/10

Y1 - 2019/10

N2 - To extend the persistence time of an underwater operation of Autonomous Underwater Vehicles(AUVs) in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. In the previous studies, the repeated sea docking using a Remotely Operated Vehicle(ROV) was succeeded. However, during the experiment in the sea, ROV sometimes failed the docking due to the ocean current disturbance since ROV is hard to correct large error of orientation around z-axis. Therefore, we develop an autonomous rotary station that defects the ocean current direction for correcting the error between the ocean current direction and the docking direction. This paper presents the details of an autonomous rotary station and the analysis of the repeated sea docking experimental result.

AB - To extend the persistence time of an underwater operation of Autonomous Underwater Vehicles(AUVs) in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. In the previous studies, the repeated sea docking using a Remotely Operated Vehicle(ROV) was succeeded. However, during the experiment in the sea, ROV sometimes failed the docking due to the ocean current disturbance since ROV is hard to correct large error of orientation around z-axis. Therefore, we develop an autonomous rotary station that defects the ocean current direction for correcting the error between the ocean current direction and the docking direction. This paper presents the details of an autonomous rotary station and the analysis of the repeated sea docking experimental result.

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KW - Docking

KW - Error

KW - Ocean current

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ER -

Successful repeated docking under fluctuating current disturbances in real Sea

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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