Showing papers on "Intervention AUV published in 1994"
19 Jul 1994
TL;DR: The authors present a vision system designed for recursive depth estimation based on a underwater vehicle equipped with a camera, and results obtained with underwater images are presented.
Abstract: Different sensing techniques have been used for a long time in the development of remote operated vehicles (ROVs) and, in the recent years, autonomous underwater vehicles, (AUVs). Sonar has been the most popular choice in what concerns depth information or obstacle detection in most of the existing systems. Vision, however is a powerful sensing modality and could be used in many tasks where accurate measurements at a short range, are needed. This paper discusses the possible use of vision in the context of autonomous underwater vehicles. Tasks, such as object avoidance or recognition, grasping, docking, sea bed reconstruction, underwater surveillance, inspection, cable maintenance, are among the set of those where computer vision may have an important role. As an example, the authors present a vision system designed for recursive depth estimation based on a underwater vehicle equipped with a camera. Results obtained with underwater images are presented.
27 citations
TL;DR: In this article, an underwater cable dynamics model and a realistic control system for tethered UAVs is presented, which allows deployment, regulation, and retrieval of an unmanned underwater vehicle tethered to a ship.
Abstract: This paper describes the development of an underwater cable dynamics model and a realistic control system which allows deployment, regulation, and retrieval of an unmanned underwater vehicle tethered to a ship. An order-n algorithm for a variable mass cable subject to hydrodynamic forces and motion constraints is used to simulate the dynamics of the system. The dynamics of the underwater vehicle is separately given with the cable tension nonlinearly affecting the vehicle speed. This creates a constraint on the cable motion that depends nonlinearly on the constraint force, a problem that is iteratively solved using constraint stabilization. The cable dynamics model and the controller presented in this paper can be used to answer many design questions relating to tethered underwater vehicles.
24 citations
19 Jul 1994
TL;DR: This paper seeks to address the ability of the vehicle to monitor its own health through the development of a system that can monitor the health of any onboard system.
Abstract: The advent of the remotely operated vehicle (ROV) greatly improved our ability to explore and understand the world in which we live, but these vehicles were always limited by cables that tethered them to a support facility. Now, with the advent of practical autonomous underwater vehicles (AUVs) the cord can be cut, allowing these robot sentinels to wander the oceans at will. The only limitations on the missions these robots will be able to perform are the available power supply, on-board intelligence and the imagination of the user. If these vehicles will be operating for weeks or even months at a time, a prime concern will be the ability of the vehicle to monitor its own health. This paper seeks to address this problem through the development of a system that can monitor the health of any onboard system.
13 citations
01 Jan 1994
TL;DR: This paper describes the new experimental vehicle, named VORTEX (versatile and open subsea robot for technical experiment), built by the Subsea Robotics Laboratory at the French Institute for Sea Exploitation (Ifremer), especially developed to become a testbed platform for robotics applications.
11 citations
01 Feb 1994
TL;DR: In this article, the authors present a review of power systems that are under consideration, design and development, mainly for the AUV application, and no attempt is made by the authors to directly compare individual systems, as this can only be effectively undertaken once a well defined vehicle and associated mission profile has been defined.
Abstract: The defence, commercial and scientific communities are all aware of the strategic importance that the oceans hold. Future underwater operations are under evaluation using autonomous ocean-ranging submersibles of the unmanned variety. Such vessels are commonly termed autonomous underwater vehicles (AUVs), and the search for suitable power systems that are able to provide high reliability coupled with long underwater durations has intensified over the last decade. This paper presents a review of those power systems that are under consideration, design and development, mainly for the AUV application. No attempt is made by the authors to directly compare individual systems, as this can only be effectively undertaken once a well-defined vehicle and associated mission profile has been defined.
8 citations
01 Mar 1994
TL;DR: In this article, the authors describe the internal subsystems of the AUV II and an examination of its positioning ability through the analysis of maneuvering experiments during hover conditions are studied.
Abstract: : The ability to take position, in a dynamic environment, relative to a local stationary object, is vital to many planned missions for the Naval Postgraduate School's Autonomous Underwater Vehicle (AUV II) project, such as bottom surveying and mine hunting. The AUV II can achieve this ability through the use of its sensors along with stem propulsion motors and tunnel thrusters. The sensors employed by the AUV II include a free directional gyro and independent self-sonar which provide acoustic positioning data without the aid of a transponder net. Described in this thesis are the details of the internal subsystems of the AUV II, and an examination of its positioning ability through the analysis of maneuvering experiments. Commanded motions of yaw, lateral and longitudinal positioning during hover conditions are studied. Autonomous underwater vehicle, Acoustic dynamic positioning, Marine vehicle dynamics, Proportional derivative control.
7 citations
13 Sep 1994
TL;DR: In this article, the authors describe progress being made in a European collaborative research project (supported under Alliance and EC MAST II programs) in three generic areas fundamental to AUV design: the application of carbon fibre composites in pressure hull design, sub-surface navigation, and the implications of sensor payload for vehicle design and control.
Abstract: Unmanned autonomous underwater vehicles (AUVs) hold considerable promise as a major new tool for gathering data in the deep ocean. However, developments are needed in a range of key technologies before reliable and cost-effective deep-diving vehicles (6000 metres depth) can be fully realised. The paper describes progress being made in a European collaborative research project (supported under Alliance and EC MAST II programmes) in three generic areas fundamental to AUV design: the application of carbon fibre composites in pressure hull design, sub-surface navigation, and the implications of sensor payload for vehicle design and control. Initial analysis of some representative science missions is helping to guide the work. >
7 citations
13 Sep 1994
TL;DR: In this paper, a 6000m depth rated remotely operated vehicle (ROV) system is described in terms of missions and objectives as well as specific technical considerations of main sub-systems.
Abstract: A 6000m depth rated remotely operated vehicle (ROV) system is currently under design at IFREMER. This system, specifically dedicated to the scientific use, is able to meet the requirements of large scale optical survey and local inspection. This paper gives a general description of the system in terms of missions and objectives as well as specific technical considerations of main sub-systems. >
7 citations
13 Sep 1994
TL;DR: In this paper, the authors report on the progress with the GEC-Marconi led collaborative research project into AUVs which culminated last summer in open water operation of the UK's 1st Test Bed AUV, addresses the technical requirements, and the technology available for the most practical AUV missions and provides a view as to likely future developments and future missions.
Abstract: With the increase in the interest in the environment and developments in technology, the concept of using autonomous underwater vehicles (AUVs) for oceanic data collection is emerging as a means of achieving a breakthrough in the exploration and exploitation of the Worlds oceans and climatic prediction. GEC-Marconi operates an AUV that has been designed and built as a part of a UK DTI supported collaborative research programme. The vehicle designed to operate in continental shelf depths of water, with an endurance of upto 36 hours, has been equipped with an oceanographic data collection suite and is now operational. The paper reports on the progress with the GEC-Marconi led collaborative research project into AUVs which culminated last summer in open water operation of the UK's 1st Test Bed AUV, addresses the technical requirements, and the technology available for the most practical AUV missions and provides a view as to likely future developments and future missions. >
6 citations
13 Sep 1994
TL;DR: In this paper, the authors present ALCAUV (Advanced Low-level Control Architecture for Underwater Vehicles), a tool for designing, developing and tuning real-time subsea robot controllers.
Abstract: In this article, we present ALCAUV (Advanced Low-level Control Architecture for Underwater Vehicles), a tool for designing, developing and tuning real-time subsea robot controllers. ALCAUV is adapted to both autonomous vehicles and teleoperated vehicles (tethered or untethered). An ALCAUV prototype is currently being used in the framework of Ifremer's Vortex project. The tool's general architecture is described, as well as the controller model. The software system used for the controller integrates both object and synchronous technology. The ALCAUV's current development state is presented, along with the first results obtained during Vortex missions. >
6 citations
TL;DR: Autonomous underwater vehicles (AUVs) are shedding their testbed origins and finding homes in marine science, ecology, offshore oil, and naval operations as discussed by the authors, and the transition is being aided by improved controllers and energy sources.
Abstract: Autonomous underwater vehicles (AUVs) are shedding their testbed origins and finding homes in marine science, ecology, offshore oil, and naval operations. The transition is being aided by improved controllers and energy sources. The author discusses the developments of AUV systems and describes some of the AUVs that are in operation. The various applications of AUVs are also discussed. >
19 Jul 1994
TL;DR: The result is a MASTER/SLAVE type of architecture in which, at least initially, the SLAVE on board the vehicle handles communications, acquires data and performs elementary control operations, whereas the MASTER manages the operator interface, analysis of sensorial data and mission control.
Abstract: This paper presents the activities in the field of underwater robotics being carried out at the Naval Automation Institute (IAN) of the Italian National Council. The ultimate goal is the development of an autonomous underwater vehicle for research purposes. To reduce the economic and logistic resources needed to develop and test a real AUV at IAN the concept of virtual AUV was introduced. This consists of a ROV capable of simulating the behaviour of an autonomous vehicle. The result is a MASTER/SLAVE type of architecture in which, at least initially, the SLAVE on board the vehicle handles communications, acquires data and performs elementary control operations, whereas the MASTER (the control console on land) manages the operator interface, analysis of sensorial data and mission control.
13 Sep 1994
TL;DR: In this article, an integrated positioning system, intended for working in automatic mode on board of the autonomous underwater vehicles, based on joint processing of the on-board autonomous navigation system and the long base acoustic positioning system information, is described.
Abstract: The integrated positioning system, intended for working in automatic mode on board of the autonomous underwater vehicles, based on joint processing of the on-board autonomous navigation system and the long base acoustic positioning system information, is described. Marine trial results of the integrated positioning system operation on board of the autonomous underwater vehicles MT-88 are supplemented. >
19 Jul 1994
TL;DR: This framework has been implemented and demonstrated in high-fidelity autonomous land and underwater vehicle simulations, is planned to be implemented on ARPA's UUV in the near future, and is being considered for applications involving other underwater vehicles, autonomous land rovers, and the space shuttle.
Abstract: This paper presents an activity-based mission planning and plan management framework that has been developed at the Charles Stark Draper Laboratory. The main contributions of this paper are definition of this activity-based implementation and comparison with other planning implementation approaches (e.g., behavior-based); and explanation of how planning, execution, monitoring, and replanning are implemented within this activity-based approach. One of the main benefits of this approach is the ability to separate the mission planning and plan management algorithms from activity specific algorithms and from mission and vehicle specific information. This separation results in an implementation that is highly portable both between missions and vehicles. This framework has been implemented and demonstrated in high-fidelity autonomous land and underwater vehicle simulations, is planned to be implemented on ARPA's UUV in the near future, and is being considered for applications involving other underwater vehicles, autonomous land rovers, and the space shuttle.