The design and production of an X4-AUV

Ge Ri Le Tu, Shinnosuke Tobita, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.

Original languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1118-1121
Number of pages4
ISBN (Print)9784907764487
DOIs
Publication statusPublished - Sep 30 2015
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period7/28/157/30/15

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Keywords

  • Autonomous underwater vehicles (AUVs)
  • Thruster
  • Underwater robots
  • Waterproofed motor

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Le Tu, G. R., Tobita, S., Watanabe, K., & Nagai, I. (2015). The design and production of an X4-AUV. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 1118-1121). [7285488] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285488