Development of a supplementary outboard side thruster system for dynamic positioning control of autonomous surface vehicle

Kato, Tetsu*; Kawamura, Yamato*; Tahara, Junichiro*; Baba, Shoichiro*; Sanada, Yukihisa; Fujii, Shun*

International Journal of Offshore and Polar Engineering, 31(3), p.316 - 324, 2021/09

https://doi.org/10.17736/ijope.2021.jc825

The development of a side thruster system (vehicle (ASV)) that can maintain the direction of travel on the autonomous surface will be explained. Currently, we are working on a mud radioactivity survey in collaboration with Japan Agency for Marine-Earth Science and Technology, Japan Atomic Energy Agency, and Tokyo University of Marine Science and Technology. Deposited at the mouth of Fukushima Prefecture, Japan, the main purpose is to collect unmanned mud using ASV. The Mad Collection has developed a side thruster system and implemented it in ASV. We have confirmed the operation of the ASV with the joystick by using the thruster system for operating the ASV by one person using the joystick.

Invention of automatic movement and dynamic positioning control method of unmanned vessel for mud mining

Fujii, Shun*; Kato, Tetsu*; Kawamura, Yamato*; Tahara, Junichiro*; Baba, Shoichiro*; Sanada, Yukihisa

Proceedings of 26th International Symposium on Artificial Life and Robotics (AROB 26th 2021), p.280 - 285, 2021/01

In recent years, autonomously navigating unmanned vessels have been actively studied, and many of these vessels are designed to perform unmanned operations such as observation and transportation. On the other hand, this study uses an unmanned ship with a moon pool that collects seabed mud, which is difficult for ordinary ships. Vessels used since the area are highly turbulent due to wind, so it is necessary to maintain a fixed point and orientation when removing mud. The ship is equipped with side thrusters to maintain a fixed point and bow direction. In this study, the control method was devised to maintain fixed point and orientation, and the control method is based on robust sliding mode control. The proposed control method was verified by simulation, and the desired behavior was confirmed.

Enhancement of element production by incomplete fusion reaction with weakly bound deuteron

Wang, H.*; Otsu, Hideaki*; Chiga, Nobuyuki*; Kawase, Shoichiro*; Takeuchi, Satoshi*; Sumikama, Toshiyuki*; Koyama, Shumpei*; Sakurai, Hiroyoshi*; Watanabe, Yukinobu*; Nakayama, Shinsuke; et al.

Communications Physics (Internet), 2(1), p.78_1 - 78_6, 2019/07

https://doi.org/10.1038/s42005-019-0165-1

Searching for effective pathways for the production of proton- and neutron-rich isotopes through an optimal combination of reaction mechanism and energy is one of the main driving forces behind experimental and theoretical nuclear reaction studies as well as for practical applications in nuclear transmutation of radioactive waste. We report on a study on incomplete fusion induced by deuteron, which contains one proton and one neutron with a weak binding energy and is easily broken up. This reaction study was achieved by measuring directly the cross sections for both proton and deuteron for Pd at 50 MeV/u via inverse kinematics technique. The results provide direct experimental evidence for the onset of a cross-section enhancement at high energy, indicating the potential of incomplete fusion induced by loosely-bound nuclei for creating proton-rich isotopes and nuclear transmutation of radioactive waste.

Dynamic Positioning Control of Unmanned Surface Vehicle for Core Sampling; Correction Input Using Neural Network

Fujii, Shun*; Tahara, Junichiro*; Baba, Shoichiro*; Sanada, Yukihisa

no journal, ,