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Showing papers on "Intervention AUV published in 1993"


Proceedings ArticleDOI
18 Oct 1993
TL;DR: In this paper, an omni-directional intelligent navigator (ODIN) was designed as a part of the research in developing a real-time 3D graphic, integrated test platform for advanced vehicle technologies.
Abstract: Underwater robotic vehicles have been attractive to many applications. Among potential applications of these vehicles include fishery, underwater pollution monitoring, and waste cleaning and handling in the ocean as well as nuclear sites. Over the last decade, there has been increasing R&D effort toward more advanced and intelligent underwater vehicles in support of a variety of applications. In the Autonomous Systems Laboratory, an omni-directional intelligent navigator (ODIN) which has dual (autonomous/remote) operational modes and a mechanical manipulator, was designed as a part of the research in developing a real-time 3D graphic, integrated test platform for advanced vehicle technologies. RSI Research Ltd. manufactured the first model which is described in this paper. >

43 citations


Proceedings ArticleDOI
18 Oct 1993
TL;DR: In this article, the authors make use of autonomous underwater vehicle (AUV) technology to provide a cost effective alternative to the use of nuclear submarines in the Beaufort Sea, and the planned mission is described together with associated requirements for vehicle technology, with particular emphasis on the development of a robust, very long baseline acoustic navigation system.
Abstract: In the Spring of 1994, the dynamical and mechanical behavior of the Artic ice cover was studied from an ice camp deployed in the Beaufort Sea, 2-300 nm north of Prudoe Bay. The periodic measurement of the under-ice topography is a key component of the experiment, and the authors make use of autonomous underwater vehicle (AUV) technology to provide a cost effective alternative to the use of nuclear submarines. As a proof of concept, the AUV Odyssey was used to obtain ice-topographic data from areas located up to 10 km from the base camp. Accurate and reliable navigation is crucial to successful completion of the mission and recovery of the vehicle. The planned mission is described together with the associated requirements for vehicle technology, with particular emphasis on the development of a robust, very long baseline acoustic navigation system. >

23 citations


01 May 1993
TL;DR: In this article, the capabilities of underwater vehicles and sensors as they relate to the performance of damage assessment are analyzed, including free-swimming remotely operated vehicles (ROVs), autonomous undersea vehicles (AUVs), towed vehicles, crawling vehicles, and composite vehicles.
Abstract: : Accurate on-site assessment of vessel hull damage in the event of grounding, collision, structural failure, or other accident is required to make timely and informed decisions relating to vessel disposition (i.e., lightering, towing, sinking.) The capabilities of underwater vehicles and sensors as they relate to the performance of damage assessment are analyzed in this report. The vehicle types analyzed include free-swimming remotely operated vehicles (ROVs), autonomous undersea vehicles (AUVs), towed vehicles, crawling vehicles, and composite vehicles. The sensor types analyzed include photographic, video, laser, and acoustic imaging systems, oil/water interface sensors, oil concentration monitors, and non-destructive test methods. A conceptual inspection vehicle system is presented based on an evaluation of the damage assessment mission. Marine inspection, Vessel inspection, Remotely operated vehicles, Imaging sensors

11 citations



Book ChapterDOI
01 Jan 1993
TL;DR: A dynamic 3D Vision system that is able to estimate dense depth maps from an image sequence by using an Extended Kalman-Bucy filtering structure that integrates all depth measurements over time, reducing uncertainty.
Abstract: This paper presents a dynamic 3D Vision system that is able to estimate dense depth maps from an image sequence. The camera motion between two successive time instants is assumed to be known. The depth maps computed at each time instant are used in an Extended Kalman-Bucy filtering structure, that integrates all depth measurements over time, reducing uncertainty. Results on images acquired by an underwater camera are presented.

3 citations


01 May 1993
TL;DR: In this paper, the capabilities of underwater vehicles and sensors as they relate to the performance of damage assessment are analyzed, including free-swimming remotely operated vehicles (ROVs), autonomous undersea vehicles (AUVs), towed vehicles, crawling vehicles and composite vehicles.
Abstract: Accurate on-site assessment of vessel hull damage in the event of grounding, collision, structural failure, or other accident is required to make timely and informed decisions relating to vessel disposition (i.e., lightering, towing, sinking.) The capabilities of underwater vehicles and sensors as they relate to the performance of damage assessment are analyzed in this report. The vehicle types analyzed include free-swimming remotely operated vehicles (ROVs), autonomous undersea vehicles (AUVs), towed vehicles, crawling vehicles, and composite vehicles. The sensor types analyzed include photographic, video, laser, and acoustic imaging systems, oil/water interface sensors, oil concentration monitors, and non-destructive test methods. A conceptual inspection vehicle system is presented based on an evaluation of the damage assessment mission. Marine inspection, Vessel inspection, Remotely operated vehicles, Imaging sensors.

3 citations


Book ChapterDOI
01 Jan 1993
TL;DR: The paper discusses the design of a low cost and reliable guidance system for AUV’s whose missions involve precise tracking of a prespecified trajectory and integrated simulations are presented, showing the efficiency of the proposed guidance system.
Abstract: The paper discusses the design of a low cost and reliable guidance system for AUV’s whose missions involve precise tracking of a prespecified trajectory. Advanced techniques concerning both the control and navigation subsystems are considered in order to achieve a true autonomous behavior of the vehicle. The control subsystem exhibits a high degree of robustness against vehicle parameters variations and rejects unknown sea currents disturbances. The navigation subsystem is based on Kalman-Bucy filtering techniques, trading between computational complexity and accuracy to achieve a control effort compatible with power consumption constraints. Integrated simulations are presented, showing the efficiency of the proposed guidance system.

2 citations



Proceedings ArticleDOI
01 Jan 1993

1 citations


Book ChapterDOI
01 Jan 1993
TL;DR: This paper describes a Subsea Powered Autonomous Remote Control System (SPARCS) which is designed to control subsea wells without the use of electro-hydraulic control umbilicals.
Abstract: This paper describes a Subsea Powered Autonomous Remote Control System (SPARCS) which is designed to control subsea wells without the use of electro-hydraulic control umbilicals.

1 citations


Proceedings ArticleDOI
17 Oct 1993
TL;DR: Underwater robotic vehicles have greater speed, endurance and depth capability as well as a higher factor of safety than human divers but have difficult control problems.
Abstract: Underwater robotic vehicles (URVs) have greater speed, endurance and depth capability as well as a higher factor of safety than human divers. However, URVs have difficult control problems. Dynamics and control problems of the vehicle are discussed and some advanced vehicle technologies are reviewed in this presentation. >