Showing papers on "Intervention AUV published in 1990"

The tv-trackmeter and the supervisory-controlled underwater telemanipulation system

Abstract: The paper presents two systems developed by Tecnomare aiming at increasing the efficiency in performing underwater telemanipulation tasks. The first system is a non contact measuring device which, on the basis of stereoscopic TV image processing can provide three dimensional coordinates of points imaged by means of a stereo TV camera, even in case of relative motion between cameras and working scene. Current and future applications of this system are relevant to underwater robotics, navigation, surveys, archaeology and biology studies.

Control And Optical Sensing In Underwater Robotic Vehicles (URVS)

Abstract: Underwater robotic vehicles ( URVs) are an important tool for various undersea tasks, because they have greater speed, endurance, and depth capability than human divers. With the increased utilization of the vehicles in subsea applications, the development of autonomous vehicles becomes highly desirable to enhance efficiency of the operation. However, engineering problems associated with the high density, nonuniform and un­ structured seawater environment and the nonlinear dynamic be­ havior of the vehicle make a high degree of autonomy difficult to achieve. The control and sensory system is oue of the most critical subsystems to increase autonomy of the vehicle. In this paper, the recent results of our research efforts for the de­ velopment of an autonomous underwater robotic vehicle in the areas of the vehicle control and optical sensing are presented.

A Precision Long Range Navigation And Guidance System For An Auv

Abstract: Autonomous underwater vehicles require a precision long range navigation system to support many Navy missions. The Office of Naval Technology ( ONT) has sponsored a project that incorporates a precision underwater navigation system developed at Lockheed into an untethered underwater vehicle provided by the Naval Research Laborator y. The navigation system fuses data from a strap down inertial navigation unit, a Doppler sonar, a velocimeter and a GPS receiver in a Kalman filter contained in a host computer. This paper describes the autonomous navigation, guidance and control system provided by Lockheed and the interfaces between it and the vehicle's normal remote control system. The paper also covers the demonstration underway at t he Special Trials Unit (STU) at Patuxent Naval Air Station at the time of the writing of this paper.