@inproceedings{oai:kyutech.repo.nii.ac.jp:00007496,
 author = {Nishida, Yuya and 西田, 祐也 and Matsumura, Toshihiro and Ishii, Kazuo and 石井, 和男},
 book = {Proceedings of International Conference on Artificial Life & Robotics (ICAROB2022)},
 month = {Jan},
 note = {Fuel consumption of the ship gets worse by barnacles and stains put on its bottom, so that the ship hull should be cleaned regularly. Usual methods such as cleaning by special divers and cleaning after pulling up to the dock are not used frequently due to those high cost and the heavy burden on cleaners. We proposed a cleaning method using underwater vehicle with brushes, however there is a possibility to remove paints on the hull. To improve cleaning performance of the underwater vehicle, the ultrasonic cleaner is developed by using cavitation occurred by sound waves of the acoustic transduces. The cleaner generates sound waves with sound pressure of 0.2MPa or more required to occur cavitation at the point where sound waves from two transducers overlap. In experimental results, the cleaner occurred cavitation enough to make two holes in the aluminum foil located 50mm away from transducers., The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan},
 pages = {779--784},
 publisher = {ALife Robotics},
 title = {Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot},
 year = {2022},
 yomi = {ニシダ, ユウヤ and イシイ, カズオ}
}