金岡秀
AUV開発研究グループ
海洋利用水中技術系 海上技術安全研究所
国立研究開発法人 海上・港湾・航空技術研究所

Zipangu: Land of GoldMap of America by Sebastian Munster (1561)
Wikimedia Commons"People on the Island of Zipangu(Japan) have tremendous quantitiesof gold. The King’s palace is roofedwith pure gold, and his floors are
paved in gold two fingers thick." The Travels of Marco Polo
(13th century)
National Maritime Research Institute2

Searching for the Zipangu in the Sea
 Seabed Mineral Resources

simultaneous deployment and operation ofmultiple AUVs

 Source: Japan Project-Industry Council

estimated deposit

availablevaluehydrothermal deposit

750106 ton

450106 ton

0.67 trillion USD

cobalt-rich crust

2.4109 ton

1.1109 ton

0.83 trillion USD cf.) Japan's GDP in 2016: 4.73 trillion USD (IMF)
National Maritime Research Institute3 The Lineup

NMRI's AUVs and an ASV

Hobalin

Date of Birth : 19th Nov., 2015
Dec. 2015 Jan. 2016
(Scorpio)

Jun. 2016 Jul. 2016

Sep. 2016 Oct. 2016 Nov. 2016

Yamanouchi Dock Suruga Bay Omuro
Sea Trial
1st Dive
CaldronOkhotsk Okinawa
SeaTrough

Suruga Bay
Omuro Okinawa
Hobalin + 1 ASV Caldron TroughDec. 2016

Omuro Caldron
Simultaneous Deployment of
3 AUVs + 1 ASVC-AUV #01
Date of Birth :8th Dec., 2015 (Sagittarius)
Suruga Bay
Launch & Sea Trial

National Maritime Research InstituteSep. 2016
Suruga Bay
Simultaneous Deployment of
2 AUVs + 1 ASV

4Dec. 2016



NMRI's AUVs and an ASVC-AUV #02
Date of Birth :20th Jul., 2016 (Cancer)

Sep. 2016

Dec. 2016

Suruga Bay
Simultaneous Deployment of
2 AUVs + 1 ASVOmuro Caldron
Simultaneous Deployment of
3 AUVs + 1 ASV
ASV for AUV control
Date of Birth :12th Sep., 2016 (Virgo)

Sep. 2016

Suruga Bay
Simultaneous Deployment of
2 AUVs + 1 ASVNational Maritime Research Institute

5Dec. 2016 Specifications and Payloads
C‐AUV #01

C‐AUV #02

dimensions (m)mass (kg)depth rating (m)speed (m/s)

main payload

C‐AUV #01

3.90.65

780

2000

1.5

PSBP

C‐AUV #02

3.60.6

620

2000

1.5

MBES

Hobalin

1.20.70.76

270

2000

0.4

cameraASV for AUV control

4.00.58

800

‐

1.5

‐

National Maritime Research Institute6

Hobalin

ASV for AUV control

Field Test in Suruga Bay
2 C-AUVs surveilled by ASV A semi-practical bottom survey diveJapan

C‐AUV #01 ASV for AUV control

Tokyo

Site of Field Test

C‐AUV #02Suruga
Bay

National Maritime Research Institute

7Izu

Navigation and Dive Results
C‐AUV #01

C‐AUV #02

National Maritime Research Institute8

Survey Cruise AUGUST 1100-16306 Cruise
Hydrothermal Activity Survey in Omuro Caldron
 Nov. 28 - Dec. 4, 2016

AUGUST EXPLORER(support vessel)

National Maritime Research Institute9 The Survey Unit
satellite communication link

underwater acoustic
communication link

National Maritime Research Institute10

underwater acoustic
positioning Navigation- Order of Deployment: ASV, Hobalin, C-AUV#01, C-AUV#02- Simultaneous Start of Bottom Tracking: C-AUV #01 & 02
- Sequential Surfacing of 3 AUVs

tracklines of C-AUV#01

tracklines of C-AUV#02

C-AUV#02

C-AUV#01

National Maritime Research Institute

11

Dive
area of Hobalin:
ほばりんの潜航域:40
EW tracklinesof40本
東西100m測線
100m long Scenes of Survey WorksNational Maritime Research Institute12

Survey Results Bottom Bathymetry

200

190

existing: 50 m meshed, surface vessel
National Maritime Research Institute100150190

new: 2 m meshed, C-AUV#0213

 Sign of Hydrothermal Activity: Plumes in Acoustic Images

National Maritime Research Institute14 Sign of Hydrothermal Activity: Temperature and Photo Images

temp. (C)anomaly in water temp.
max. 16.4C at 8:02
CT sensor in Hobalintime
National Maritime Research Institute15

A Single Shot of Hydrothermal Vent

picture taken at 8:02 a.m.
National Maritime Research Institute16

A Single Shot of Hydrothermal Vent (Enlarged)

National Maritime Research Institute17

Mosaicked Bottom Image

National Maritime Research Institute18

Sub-Bottom Profiling- sub-bottom layers of Hatsushima Offing visualized by PSBP(Parametric SBP) installedin C-AUV#01
image source: Dr. Katsunori Mizuno,IIS, the Univ. of Tokyo

National Maritime Research Institute19Conclusions and Future Works

Simultaneous Deployment and Operation of Multiple AUVs
- 2 C-AUVs, 1 H-AUV- controlled by an ASV- surveyed hydrothermal activities

Practical Mission
achieved by a Pure
Unmanned Survey Unit

Future Works- Advanced Navigation- Increased No. of Vehicles: 4 AUVs in 2017
ACKNOWLEDGMENTS
This work is supported by Council for Science, Technology and Innovation (CSTI), cross-ministerial Strategic Innovation
Promotion Program (SIP), next-generation technology for ocean resources exploration (lead agency: JAMSTEC).

National Maritime Research Institute20