Muneo Yoshie

Development for teleoperation underwater grasping system in unclear environment

The mechanization of underwater construction is not so much advanced as the mechanization of construction on the ground. Most port construction works depend on diver labor. Considering the efficiency and safety of divers, it is necessary to introduce an underwater construction machine. Especially, a teleoperational underwater backhoe with grasping system will be useful for setting and removing brocks or rubble, and dismantling broken facilities. In case of teleoperation on the ground, it is possible to use machine vision or human eyes to observe motion of a controlled machine. However, underwater, turbidity caused by raising earth and sand by water currents disturbs the vision. The efficiency of a grasping operation in water deteriorates. Therefore, we consider applying augmented reality (AR) technology to the grasping system. In AR technology of this research, information from a sensor is extended or processed to compensate for the lack of visual information. It is assured that the application of AR technology is effective for the grasping operation under poor visible circumstances through examinee experiments of a computer simulation. In this paper, we present AR technology and a validity of this teleoperation system.

Autonomous Spilled Oil and Gas Tracking Buoy System and Application to Marine Disaster Prevention System: Part 1

This paper describes the ongoing project on autonomous spilled oil and gas tracking buoy system and application to marine disaster prevention system for 5 years since FY2011. Objectives of this project are as (1)autonomous tracking and monitoring of spilled plumes of oil and gas from subsea production facilities by an underwater buoy robot, (2)autonomous tracking of spilled oil on the sea surface and transmission of useful data to a land station through satellites in real time by multiple floating buoy robots, (3)improvement of the accuracy of simulations for predicting diffusion and drifting of spilled oil and gas by incorporating the real-time data from these robots. To realize (1) and (2) objectives, we have developed an autonomous underwater robot named SOTAB-I, and an autonomous surface vehicle named SOTAB-II. To realize (3) objective, Data fusion methods in the simulation models incorporating real time measured data not only from a SOTAB-I for gas and oil blowouts, but also from multiple SOTAB-IIs for spilled oil drifting on sea surface were developed.

Spilled Oil Tracking Autonomous Buoy System

Spilled oil damages not only the ocean environment but also the regional economy. In order to minimize such damages we are now developing a spilled oil tracking autonomous buoy system. The buoys used in this system are expected to send their location, and the meteorological and oceanographic data around them, to the land base in real-time while they drift with spilled oil. In the case that the buoy detaches from the spilled oil by external forces, it must be capable of detecting and tracking the spilled oil autonomously. In this paper, we first describe the concept of this system. This is followed by the development of two kinds of oil-detecting sensors installed on the buoy: a contact sensor and a non-contact sensor. The efficiencies of these sensors were verified by carrying out various water tank experiments. The buoy tracks spilled oil with descending and ascending procedures by controlling its buoyancy and movable wings. The developed control algorithm was validated with some water tank experiments using a simple buoy model. Finally, we carried out field experiments, such as data measurements and autonomous tracking experiments, using a new buoy model equipped with oil detecting sensors, GPS and an anemometer. The results of field experiments show the efficiency of this system.

Development of Spilled Oil Tracking Autonomous Buoy System

Spilled oil from stranded ship damages not only the ocean environment but also the regional economics. In order to prevent such damages from expanding, we are developing a system using autonomous buoys. When the oil spill accident happens, several buoys are dropped into the sea. While the buoys drift along with spilled oil, those send some useful data such as its location, the meteorological and oceanographic data around them, in real time. According to the effect of wind driven water currents on the free surface, the buoys tend to drift apart from spilled oil. Therefore, the buoys must have the function of detecting and tracking spilled oil. In this paper, the concept of the buoy system and the mechanism of tracking spilled oil are firstly introduced. Then, the sensors to detect spilled oil are described. Next, the numerical scheme is explained to design the buoy and verify its maneuverability. Some experiments using a buoy model were carried out to verify the maneuverability and tracking ability of this buoy. These results show that the buoy could track the target by using the developed tracking algorithm.

An Onboard Air Conveyer Oil Skimmer

A high power air conveyer oil skimming system and implementation on a real oil recovery vessel are presented. Port and Airport Research Institute (PARI) has succeeded in development of a new type of onboard oil recovery system. Development of the project has been in cooperation with the Shikoku Regional Bureau, Ministry of Land Infrastructure and Transport Japan (MLIT). The system employs a high-power vacuum blower for sucking liquid in gas-liquid multiphase form. Its applicability to an onboard oil recovery system has been experimentally investigated. The experiments have shown that the method can respond to the wide range of viscosity of the spilled oil and works well even in wavy sea condition. These results have been applied to the oil skimming system mounted on ISHIZUCH - an oil recovery vessel owned and operated by MLIT recently refitted by Mitsui Engineering & Shipbuilding Co., LTD

Steam Jet Pump For Oil Recovery And Reformation

ABSTRACT This paper discusses basic performances of the steam jet suction device and its potential application to the spilled oil recovery. The experiments were carried out on suction and ejection performance of the steam-driven jet pump as well as its other benefits such as breaking emulsion or an application to a beach cleaning device. The paper additionally includes some basic topics related to the process of emulsion breaking by surface active agents. The main conclusions of the study are (1) A steam-jet pump is basically suitable to recover and transfer high viscosity spilled oil because it realizes large suction power as well as very rapid heating which resolves the difficulty related to the high viscosity caused by the emulsification, (2) A steam-jet pump is also available for reforming the nature of the spilled oil. Emulsion breaking was observed to a considerable extent even without chemical agent, (3) A steam-jet pump has a potential application to a beach cleaning equipment. The steam-driven je...

Spilled Oil Tracking Autonomous Buoy

We are developing Spilled Oil Tracking Autonomous Buoy System (SOTABS), which is composed of a land base and several spilled oil tracking autonomous buoys (SOTAB), to detect and track spilled oil autonomously, sending real time data around them to the land base. This paper firstly deals with steady sailing performance of SOTAB-II with a sailboat shape for tracking spilled oil on the sea surface by controlling the rudder angle, and the area and direction of the sail, and then sea trials using a model of SOTAB-II with a cylindrical buoy shape to obtain its fundamental characteristics on motion.

An onboard vacuum suction spilled oil recovery system

A vacuum suction oil skimming system has been studied. The system employs a high power vacuum blower for sucking high viscosity oil. Its applicability to an onboard oil recovery system has been experimentally investigated using small-size models as well as a large-size model. The suction performance has been measured and is given in terms of liquid suction rates, oil and water fraction, friction loss and liquid holdup in the riser pipe in various simulated conditions including wave and current. An emulsified heavy oil whose viscosity is as high as 300,000 mPa.s was used. The results shows that the vacuum suction is a suitable method for recovering the spilled oil on the sea surface since the system has better performance on a wavy surface than a calm water. This work also includes the system overview and a basic design strategy for a real-size onboard oil recovery system which will be installed on a new oil recovery vessel.

Experimentation for development of underwater acoustic video camera: In experiment dock

Ocean resources exploration and underwater works using Remotely Operated Vehicle and Autonomous Underwater Vehicle increase interest, and a techniques of underwater image with acoustic has become a significant concern. Therefore, a development of new underwater acoustic device adapted to ocean resources exploration and underwater works. In this study, we experiment with the use of acoustic video camera for development of a new acoustic video camera and software to meet ocean resources exploration and underwater works needs. The experiment was performed by means of an acoustic video camera, underwater teleoperated excavator, underwater crawler, and simulated chimney. High spatial imaging and software were developed for this experiment and they were used to generate 3D views, to display an operation views and measurement distance of targets. Our results will be necessary for the ocean resources exploration and underwater works.

Development of Spilled Oil and Gas Tracking and Monitoring Autonomous Buoy System and its Application to Marine Disaster Prevention

In this paper, the recent developments in the ongoing project on spilled oil and gas tracking autonomous buoy system and its application to marine disaster prevention system are described. The objectives of the project mainly consist of (1) autonomous tracking and monitoring of spilled plumes of oil and gas from sub-sea production facilities, (2) autonomous tracking of spilled oil on the sea surface and transmission of useful data to a land station through satellites in real time, (3) improvement of the accuracy of real-time simulations as well as prediction of the diffusion and drifting of spilled oil and gas.