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Development of AUV for Whale following

追鲸AUV的开发

基本信息

批准号：
14205146
负责人：
NOSE Yoshiaki
金额：
$ 23.55万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14205146/
关键词：
Whale Observation Sperm Whale Humpback Whale Autonomous Underwater vehicle AUV click Acoustic Tracking Classification 鳴音海中ロボットクリック音

项目摘要

There are few studies on the behavior of whales in underwater. Conventional whale observation from ships gives us only the knowledge of their behavior on ocean surface. Recently new methods using satellite system and suction-cup-TDR tag system have been developed. Satellite system is effective for tracking whales on surface, but this system can not collect any data of whales in underwater. On the other hand, suction-cup TDR tag is effective for collecting data of whales not only on surface but in underwater, however it must be physically attached to a whale by researcher. The other problem is that tag is sometimes lost after it was apart from a whale. Consequently whale's behavior in underwater remains still uncertain to us, thus establishment of a new method which can be utilized for observing whale's behavior on surface and in underwater is expected.In this research, we proposed new whales observation system using AUV(Autonomous Underwater Vehicle) as an underwater platform. The resu … More lts of several sea trials show that the realized system works effectively.Most whales have particular sounds called vocalizations or clicks. Male humpback whales sing songs composed by complicated phrases. Sperm whales are known that they emit loud impulsive broadband sounds called clicks during their diving to a deep water. We analyzed their acoustic data using signal processing techniques and develop new compact acoustic system based on passive sonar for implementing to AUV. Using this system, AUV can get direction and depth information of each whales in underwater to classify and follow them in sub-real time.For the purpose of observing sperm whale's diving behavior, we did sea trials in 2002 and 2003 off Ogasawara Islands and improved the system. In September 2004, we finally could deploy AUV and collect some data with this system. The result of data analysis indicates this system is suitable for sperm whale following using AUV.For the purpose of observing humpback whales behavior, we collected sound data and established new sound model. The result of data sampling test indicates this model is appropriate to be used for classification of humpback whales. Next, we rebuild this model to more compact device to implement to AUV and track humpback whales using AUV.Based on this research, a river dolphin observation project using acoustic system has been started.For future works, we would like to propose carrying out sustainable whale observations using this system off Ogasawara Islands and off Okinawa Islands. Less

关于鲸鱼在水下的行为的研究很少。从船上对鲸鱼的常规观察只能让我们了解它们在海面上的行为。最近，利用卫星系统和吸盘-TDR标签系统的新方法被开发出来。卫星系统可以有效地跟踪水面上的鲸鱼，但该系统不能收集水下鲸鱼的任何数据。另一方面，吸盘TDR标签不仅可以有效地收集鲸鱼在水面上的数据，也可以在水下收集鲸鱼的数据，但研究人员必须将其物理地附着在鲸鱼身上。另一个问题是，Tag有时会在与鲸鱼分开后丢失。因此，鲸鱼在水下的行为仍然是未知的，因此，人们期待着建立一种新的方法来观测鲸鱼在水面和水下的行为。在本研究中，我们提出了一种以AUV(自治水下机器人)为水下平台的新型鲸鱼观测系统。结果…更多的几次海上试验表明，实现的系统工作有效。大多数鲸鱼有特殊的声音，称为发声或滴答声。雄性座头鲸歌唱由复杂短语组成的歌曲。众所周知，抹香鲸在潜入深水时会发出响亮的、冲动的宽带声音，称为咔哒声。我们利用信号处理技术对它们的声学数据进行了分析，并开发了一种新型的基于被动声纳的紧凑型声学系统，用于实现AUV。利用该系统，AUV可以获得每头鲸鱼在水下的方向和深度信息，以便对它们进行亚实时分类和跟踪。为了观察抹香鲸的潜水行为，我们于2002年和2003年在小川群岛附近进行了海试，并对系统进行了改进。2004年9月，我们终于可以部署AUV并使用该系统进行数据采集。数据分析结果表明，该系统适用于抹香鲸对AUV的跟踪。为了观察座头鲸的行为，我们采集了声音数据并建立了新的声音模型。数据抽样检验结果表明，该模型适用于座头鲸的分类。接下来，我们将该模型改造为更紧凑的装置，以实现对座头鲸的AUV和跟踪。在此研究的基础上，利用声学系统对河豚进行观测的项目已经启动。在未来的工作中，我们建议使用该系统在小川群岛和冲绳群岛附近进行可持续的鲸鱼观测。较少