抄録
In this study, in order to manufacture an underwater apparatus that can control the depth and posture itself
in shallow sea, underwater depth-posture perceptive system had been developed. It had been examined experimentally as following ; the trial underwater apparatus, which was composed of the depth-posture sensing section, signal-processing section, actuator controlling section, power supply section, plastic body, and four actuators with a propeller, had been made. The pressure sensor and acceleration sensor were adopted as the device of sensing the depth and posture. The signal processing had been constructed based on an equation of motion conceming a body in underwater.
The motion experiment of the trial apparatus had been conducted in the 3m-depth serene water pool. The experimental results indicated the depth-posture perceptive system was effective, because it had controlled the
trail device based on detecting the physical quantity of the motion.
