Proceedings ArticleDOI
Design of an AUV Research Platform for Demonstration of Novel Technologies
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TLDR
The underlying design philosophy which focuses on versatility and endurance is presented and a free-flooded hull offers modularity and modifiability while reliability and robustness are achieved through hardware redundancy and a hierarchical captain-scientist relationship in the embedded system.Abstract:
Maribot LoLo is an autonomous underwater vehicle (AUV) developed at the KTH Centre for Naval Architecture as part of the Swedish Maritime Robotics Centre (SMaRC). The center’s cross-disciplinary activities require an AUV research platform that can be used for data collection and to test and demonstrate novel technologies. The challenge herein is to create a well-performing and yet versatile vehicle. This paper introduces Maribot LoLo and presents the underlying design philosophy which focuses on versatility and endurance. A free-flooded hull offers modularity and modifiability while reliability and robustness are achieved through hardware redundancy and a hierarchical captain-scientist relationship in the embedded system. The vehicle is designed to be operated at moderate water depths and on long-range missions. This leads to challenges in the design of the variable buoyancy system (VBS) which also is presented. The achievable range of the AUV is evaluated with a simple hydrodynamics model based on frictional drag.read more
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Proceedings ArticleDOI
Efficient Navigation Aware Seabed Coverage using AUVs
Özer Özkahraman,Petter Ögren +1 more
TL;DR: In this article, the authors compute trajectories that guarantee coverage for a given area under assumptions on worst case localization error growth, and further compute upper bounds for how large areas can be covered using common coverage patterns and a single landmark.
Journal ArticleDOI
Including Heat Balance When Designing the Energy System of Fuel Cell-Powered AUVs
TL;DR: In this paper, a heat balance over the energy system of an AUV is calculated for each combination of hydrogen and oxygen storage units, and a multi-criteria decision-making analysis is conducted, considering the calculated total heat, the specific energy, the energy density and the volumetric mass of each combination.
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Online Stochastic Variational Gaussian Process Mapping for Large-Scale Bathymetric SLAM in Real Time
TL;DR: In this paper , the authors propose an adaptation of stochastic variational GP (SVGP) regression to online mapping in combination with a novel, efficient particle trajectory storing in the RBPF.
Automatic Tuning of Motion Control System for an Autonomous Underwater Vehicle
TL;DR: The interest for marine research and exploration has increased rapidly during the past decades and autonomous underwater vehicles (AUV) have been found useful in an increased amount of applications.
Journal ArticleDOI
Online Stochastic Variational Gaussian Process Mapping for Large-Scale Bathymetric SLAM in Real Time
TL;DR: In this paper , the authors propose an adaptation of stochastic variational GP (SVGP) regression to online mapping in combination with a novel, efficient particle trajectory storing in the RBPF.
References
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Journal ArticleDOI
Autonomous Underwater Vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience
Russell B. Wynn,Veerle A.I. Huvenne,Tim Le Bas,Bramley J. Murton,Douglas P. Connelly,Brian J. Bett,Henry A. Ruhl,Kirsty J. Morris,Jeff Peakall,Daniel R. Parsons,Esther J. Sumner,Stephen E. Darby,Robert M. Dorrell,James E. Hunt +13 more
TL;DR: Autonomous Underwater Vehicles (AUVs) have a wide range of applications in marine geoscience, and are increasingly being used in the scientific, military, commercial, and policy sectors as mentioned in this paper.
Journal ArticleDOI
Power systems for autonomous underwater vehicles
TL;DR: In this paper, the issues involved in designing battery systems and power transfer (charging) techniques for AUVs operating within an Autonomous Ocean Sampling Network (AOSN) are examined.
Journal ArticleDOI
A theoretical study of body drag in subcritical axisymmetric flow.
TL;DR: In this paper, a method of predicting body drag in subcritical axisymmetric flow is outlined which requires only detailed body shape, free-stream conditions and transition point to be prescribed.
Proceedings ArticleDOI
Autosub Long Range: A long range deep diving AUV for ocean monitoring
TL;DR: In this article, the Autosub Long Range Autonomous Underwater Vehicle (ALSAV) is described, which is designed to have a 6000m depth rating and a 6000km range.
Journal ArticleDOI
Autosub6000: a deep diving long range AUV
TL;DR: In this article, the authors describe the design issues that specifically affect a deep-diving AUV which must be capable of operating with true autonomy, independently of the mother ship, namely: carrying adequate energy for long endurance and range, coping with varying buoyancy, and maintaining accurate navigation throughout missions lasting up to several days.