-Project AquaBox-

Project AquaBox

　This project is worked out for developing the autonomous underwater vehicles and its application to coastal activity.

　We will take part in the Autonomous Underwater Vehicle Competition (AUVC) be held in San Diego this August, to test our AUV's performance and seeking a further development.

AquaBox I


We developed the remotely operated vehicles (ROV) “AquaBox I” for inspection of underwater structure using measurement system including image mosaicing.
	“AquaBox I” has designed considering following 2 components. - The frame structure is adopted for modification of mounted devices. - The low level control of vehicle is carried out with micro controllers.

Specifications -AquaBox I-
Type																														Remotely Operated Vehilce (ROV)
Structures																														Aluminum Pressure Hull x 1 　Pressure resistant: 50[m] 　H: 575[mm] W:595[mm] L:845[mm] 　Weight: 35[kg]
Actuators																														40[W] Thrusters x 5
Control System																														Micro Controller (PIC) 　-Low level attitude control 　Joystick
Communications																														Ethernet
Sensors																														Pressure Sensor (Depth Sensor) 　Doppler Velocity Log 　Measurement System 　 -CCD Digital Video Camera x 1 　 -Laser x 1
Light																														Halogen Lights x 2
Power																														29[V], 25[V] External Power Supply

AquaBox II


We are developing the autonomous underwater vehicle (AUV) “AquaBox II” for coastal activities such as observation, rescue and assistance for diver.
“AquaBox II” has designed considerng following 5 components. -The computer processing ability is sufficient to be used ad a test-bed vehicle for software. -Small and light enough to handle experiments easily with a few researchers. -Programming and debugging can be done from outside host computer. -The low level control of vehicle is carried out with micro controllers. -The frame structure is adopted for modification of mounted devices.

Please put mouse on the picture !


This figure is inside of AquaBox II. (a) Two underwater lights (b) Pressure hull 1 (c) Pressure hull 2 (d) Doppler velocity log (e) Four thrusters 　　Surge x 2, Heave x 1, Sway x 1

Specifications -AquaBox II-
Type																														Autonomous Underwater Vehilce (AUV)
Structures																														Aluminum Pressure Hulls x 2 　Pressure resistant: 50[m] 　H: 550[mm] W:1200[mm] L:1300[mm] 　Weight: 60[kg]
Actuators																														40[W] Thrusters x 4 　MotorDrivers x 4 (Titech Ver.III)
Control System																														Laptop PC (Intel Pentium M1.1GHz) 　WindowsXP Professional 　MicroController(PIC18F8720)
Communications																														LAN, WirelessLAN 　Transponder (SeaTel 40)
Sensors																														Pressure Sensor (Depth Sensor) 　Doppler Velocity Log 　Angular Velocity Sensor 　Attitude Sensor 　Measurement System 　 -CCD Digital Video Camera x 1 　 -USB Video Capture
Light																														20[W] Halogen Lights x 2
Power																														29[V], 26[V] Lithium-Polymer Batteries 8000mAh x 2

Now, we will shift "Aqua Box III" !