Abstract
In the hope of expanding underwater observation and research, the Institute of Industrial Science (IIS) at the University of Tokyo started extensive R&D on autonomous underwater vehicle (AUV) in 1984. IIS has constructed nine vehicles, including three ocean-going vehicles, one lake survey vehicle and various testbed vehicles. The R-One Robot is equipped with a closed-cycle diesel engine system and it successfully completed a 12-h operation of long-range autonomous diving in the Pacific Ocean in 1998. Utilizing the testbed robots, many intelligent systems, especially those for underwater vision systems, have been developed. The success of these AUVs at the IIS has led to the establishment of the 'Underwater Technology Research Center' which opened on 1 April 1999. This new center also plans to collaborate both nationally and internationally with other facilities for further R&D of AUVs and other new underwater observation technologies.