Study on motion of buoy robot chasing spilled oil

Accession number;06A1016322
Title;Study on motion of buoy robot chasing spilled oil
Author;ITO ASUKA(Osaka Univ., Graduate School of Engineering, JPN)   MIYAGAWA TOMOYUKI(Osaka Univ., Graduate School of Engineering, JPN)   SENGA HIDETAKA(Osaka Univ., Graduate School of Engineering, JPN)   KATO NAOMI(Osaka Univ., Graduate School of Engineering, JPN)   YOSHIE MUNEO(Port and Airport Res. Inst., JPN)   
Journal Title;Kaiyo Kogaku Shinpojiumu (CD-ROM)
Journal Code:S0108B
ISSN:
VOL.19th;NO.;PAGE.ROMBUNNO.111(2006)
Figure&Table&Reference;FIG.11, TBL.2, REF.3
Pub. Country;Japan
Language;Japanese
Abstract;The environmental pollution by spilled oil has recently been a large problem. We are studying a monitoring system of spilled oil consisting of buoy robots automatically chasing spilled oil and transmitting sampling data to a land station, and prediction system of dynamics of spilled oil on the land station. As a preliminary study for development of the buoy robot, we need to design parameters of the robot such as the buoyant force to control the vertical location, the weight distribution and the shape of the wings that are used to control the horizontal location during its ascent and descent. We carried out water tank tests using a buoy robot model to obtain the characteristic of the motion. In addition, we developed simulation program for the buoy robot motion during its ascent and descent. We evaluated the accuracy of the simulation by comparing with experimental results. We developed the simulation code a based on a linear motion of the buoy robot at the first stage and then on a non-linear motion for the next stage. We carried out case studies to evaluate the characteristics of motion by changing buoyant force, location of wings and BG. (author abst.)