Abstract
This paper presents details of an air-independent power (AIP) system of a Closed Cycle Diesel Engine System (CCDE) for a cruising type autonomous underwater vehicle (AUV) called "R-One Robot" The CCDE is controlled fully automatically, and produces 5kW output and its capacity is about 60kWh, which corresponds to 24 hour and 100 km range continuous dive of the robot. The CCDE consists of a diesel engine and peripheral equipment for closed cycle operation such as a chemical absorber for carbon dioxide removal from exhaust gas using potassium hydro-oxide, an oxygen replenishment system including oxygen sensor in the control system and a liquid oxygen tank. Vibration and noise of the engine are sufficiently isolated for the vehicle hull. The R-One Robot is 8 m length and 4.8 tons in weight, and its depth rate is 400 m. The first autonomous dive of the robot was carried out in 1996,and has been used for scientific research of the ocean so far.
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