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Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic”
http://hdl.handle.net/10228/00008688
http://hdl.handle.net/10228/00008688abbedad1-84b9-41d8-b3c6-23f3dd044257
名前 / ファイル | ライセンス | アクション |
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ICAROB2022_OS28-1.pdf (587.8 kB)
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Item type | 会議発表論文 = Conference Paper(1) | |||||||||||||||||
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公開日 | 2022-01-26 | |||||||||||||||||
資源タイプ | ||||||||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||||||||
資源タイプ | conference paper | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | en | |||||||||||||||||
タイトル | Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic” | |||||||||||||||||
その他のタイトル | ||||||||||||||||||
その他のタイトル | Underwater Acoustic Positioning Based on MEMS Microphone for a Portable Autonomous Underwater Vehicle | |||||||||||||||||
言語 | en | |||||||||||||||||
言語 | ||||||||||||||||||
言語 | eng | |||||||||||||||||
著者 |
Irmiya, R. Inniyaka
× Irmiya, R. Inniyaka× Solpico, Dominic B.× Hamada, Daiki× Sugino, Akihiro× Tanaka, Rikuto× 西田, 祐也
WEKO
28934
× 石井, 和男
WEKO
3456
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抄録 | ||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||
内容記述 | Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV “KYUBIC” for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger. | |||||||||||||||||
言語 | en | |||||||||||||||||
備考 | ||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||
内容記述 | The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan | |||||||||||||||||
書誌情報 |
en : Proceedings of International Conference on Artificial Life & Robotics (ICAROB2022) p. 349-353, 発行日 2022-01-22 |
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出版社 | ||||||||||||||||||
出版社 | ALife Robotics | |||||||||||||||||
DOI | ||||||||||||||||||
関連タイプ | isIdenticalTo | |||||||||||||||||
識別子タイプ | DOI | |||||||||||||||||
関連識別子 | https://doi.org/10.5954/icarob.2022.os28-1 | |||||||||||||||||
ISBN | ||||||||||||||||||
識別子タイプ | ISBN | |||||||||||||||||
関連識別子 | 978-4-9908350-7-1 | |||||||||||||||||
ISSN | ||||||||||||||||||
収録物識別子タイプ | EISSN | |||||||||||||||||
収録物識別子 | 2435-9157 | |||||||||||||||||
著作権関連情報 | ||||||||||||||||||
権利情報 | Copyright (c) The 2022 International Conference on Artificial Life and Robotics (ICAROB2022) | |||||||||||||||||
キーワード | ||||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Autonomous Underwater Vehicle | |||||||||||||||||
キーワード | ||||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Acoustic Positioning System | |||||||||||||||||
キーワード | ||||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | MEMS Mic | |||||||||||||||||
キーワード | ||||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Underwater Competition | |||||||||||||||||
出版タイプ | ||||||||||||||||||
出版タイプ | VoR | |||||||||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||
査読の有無 | ||||||||||||||||||
値 | yes | |||||||||||||||||
研究者情報 | ||||||||||||||||||
https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html | ||||||||||||||||||
論文ID(連携) | ||||||||||||||||||
10384505 | ||||||||||||||||||
連携ID | ||||||||||||||||||
10080 |