The observation performance of “Yumeiruka”, an AUV with X canard and rear X rudder

Abstract

JAMSTEC has developed several underwater vehicles. These vehicles are currently being used for tasks ranging from seabed topography mapping to deep-sea biological survey. In particular, the AUV "Yumeiruka" was developed to perform seabed resource survey. "Yumeiruka" is equipped with two sets of X-rudders, one in the front, and one in the rear part of the vehicle. This arrangement of the rudders enables the vehicle to trace the sea bottom with controlled attitude. For example, "Yumeiruka" can follow the terrain of an irregular seabed with its pitch angle fixed to 0 degree. The attitude control capability allows the vehicle to aim the onboard sensors vertically at the sea bottom, resulting in more efficient survey of the seafloor. This paper describes the observation performance achieved by "Yumeiruka" during attitude controlled cruise.