Proceedings ArticleDOI
Underwater docking of autonomous undersea vehicles using optical terminal guidance
S. Cowen,S. Briest,J. Dombrowski +2 more
- Vol. 2, pp 1143-1147
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TLDR
In this article, an optical quadrant tracker is used to lock onto a visible light source located at the dock in the same manner as a Sidewinder air-to-air missile tracks its target in air.Abstract:
Missions in which an autonomous undersea vehicle docks with an underwater node for the purpose of battery recharging and/or data transfer greatly increase the scope of potential applications possible with UUVs. Robust and accurate vehicle guidance to a small, simple and reliable docking structure is a critical capability which must be developed in order to achieve this end. This paper describes a simple but highly effective underwater vehicle guidance scheme which is based upon an optical quadrant tracker which locks onto a visible light source located at the dock in the same manner as a Sidewinder air-to-air missile tracks its target in air. An optical terminal guidance system based upon this concept was developed by NRaD. Optical guidance and docking was demonstrated using two autonomous underwater vehicles: a SeaGrant Odyssey IIB and the NRaD Flying Plug. The optical docking system was demonstrated to be accurate and robust for vehicle terminal guidance during field operations and provided targeting accuracy on the order of 1 centimeter under real-world conditions, even in turbid bay water. Such a system is projected to provide reliable terminal vehicle guidance to an underwater dock from a maximum acquisition range of approximately 100 meters in typical continental shelf ocean water.read more
Citations
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Journal ArticleDOI
Docking for an autonomous ocean sampling network
Hanumant Singh,James G. Bellingham,Franz S. Hover,S. Lemer,B.A. Moran,K. von der Heydt,Dana R. Yoerger +6 more
TL;DR: This paper examines the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN), and presents a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction.
Journal ArticleDOI
Autonomous underwater vehicle homing/docking via electromagnetic guidance
TL;DR: In this article, an Electromagnetic Homing (EM) system is proposed to provide accurate measurement of the AUV position and orientation to the dock during homing, with particular attention to one can be adapted to a wide class of AUVs.
Journal ArticleDOI
Experiments on vision guided docking of an autonomous underwater vehicle using one camera
TL;DR: In this article, an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested.
Journal ArticleDOI
Docking Control System for a 54-cm-Diameter (21-in) AUV
TL;DR: This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV.
Data muling over underwater wireless sensor networks using an autonomous underwater vehicle
TL;DR: In this paper, the authors present algorithms, systems, and experimental results for underwater data muling, where an AUV can locate the static nodes using vision and hover above them for data upload.
References
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Journal ArticleDOI
Light in the Sea
TL;DR: In this paper, new data drawn from investigations spanning nearly two decades are used to illustrate an integrated account of the optical nature of ocean water, the distribution of flux diverging from localized underwater light sources, the propagation of highly collimated beams of light, the penetration of daylight into the sea, and the utilization of solar energy for many purposes including heating, photosynthesis, vision, and photography.
Journal ArticleDOI
Autonomous Oceanographic Sampling Networks
Proceedings ArticleDOI
An integrated approach to multiple AUV communications, navigation and docking
Hanumant Singh,J.A. Catipovic,R.L. Eastwood,Lee Freitag,H. Henriksen,Franz S. Hover,Dana R. Yoerger,James G. Bellingham,B.A. Moran +8 more
TL;DR: This paper presents an algorithm for homing in on a beacon and the results of testing this approach at sea, and shows how the docking approach may be extended to allow coordinated multiple vehicle operations.
Proceedings ArticleDOI
An intelligent dock for an autonomous ocean sampling network
TL;DR: In this article, the authors examine the issues associated with the design, at an algorithmic level, of a dock capable of autonomous or near autonomous operations in tending to and serving as a data and power repository for autonomous underwater vehicles.
ReportDOI
Flying Plug: A Small UUV Designed for Submarine Data Connectivity
TL;DR: In this paper, the authors consider the problem of reliable, high bandwidth communications with terrestrial networks in underwater environments, where the conductive medium places strict limits upon RF propagation, visibility greatly restricts the bounds of optical transmission and noise, ray bending and multipath dominate the acoustic environment.