@inproceedings{oai:kyutech.repo.nii.ac.jp:00007484,
 author = {Irmiya, R. Inniyaka and Solpico, Dominic B. and Hamada, Daiki and Sugino, Akihiro and Tanaka, Rikuto and Nishida, Yuya and 西田, 祐也 and Ishii, Kazuo and 石井, 和男},
 book = {Proceedings of International Conference on Artificial Life & Robotics (ICAROB2022)},
 month = {Jan},
 note = {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., The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan},
 pages = {349--353},
 publisher = {ALife Robotics},
 title = {Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic”},
 year = {2022},
 yomi = {ニシダ, ユウヤ and イシイ, カズオ}
}