Showing papers on "Intervention AUV published in 1996"
TL;DR: A new, highly accurate model of the arm/vehicle hydrodynamic interaction forces, which was developed as part of this research, was developed and implemented and arm end-point settling times were reduced by a factor three when compared to those obtained with arm and vehicle feedback control alone.
Abstract: The addition of manipulators to small autonomous underwater vehicles (AUVs) can pose significant control challenges due to hydrodynamic interactions between the arm and the vehicle. Experiments conducted at the Monterey Bay Aquarium Research Institute (MBARI) using the OTTER vehicle have shown that dynamical interactions between an arm and a vehicle can be very significant. For the experiments reported in this paper, a single-link “arm” was mounted on OTTER. Tests showed that for 90-degree, two-second repetitive slews of the arm, the vehicle would move as much as 18 degrees in roll and 14 degrees in yaw when no vehicle control was applied.
123 citations
TL;DR: This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior.
Abstract: This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior. An overview of some of the missions being considered for this rapidly developing technology is mentioned including environmental monitoring, underwater inspection, geological survey as well as military missions in mine countermeasures.
48 citations
02 Jun 1996
TL;DR: In this paper, the authors describe the underwater robot "AQUA EXPLORER 1000" (AE1000) for inspection of underwater telecommunication cables, which can find and track buried underwater cables with a cable tracking sensor, and record the view of the seafloor on a built in video cassette recorder.
Abstract: This paper describes the outline and the summary of an autonomous underwater robot "AQUA EXPLORER 1000" (AE1000) for inspection of underwater telecommunication cables. AE1000 can find and track buried underwater cables with a cable tracking sensor, and record the view of the seafloor on a built in video cassette recorder (VCR). A high-bit-rate acoustic link for video-signal transmission is also newly developed, that enables the operator to monitor the seafloor in real-time. Five sea trials have been carried out since 1992, in which we succeeded in the continuous tracking of real underwater telecommunication tables over 2.6 kilometers. The object of the project, basic design, performance, and the results of sea trials are discussed.
34 citations
02 Jun 1996
TL;DR: The MAUVE project as discussed by the authors developed and validated at sea a miniaturized, reconfigurable, mobile and autonomous instrumented vehicle, dedicated to multipurpose survey, in particular in coastal waters.
Abstract: The overall objective of the MAUVE project is to develop and validate at sea a miniaturized, reconfigurable, mobile and autonomous instrumented vehicle, dedicated to multipurpose survey, in particular in coastal waters. It will be characterized by coherent integration of a compact automatic multiparameter measurement module with a very small autonomous underwater vehicle, enabling sensor-driven navigation. Such a demonstrator, derived from an existing "torpedo-shaped" AUV (CALAS), will be developed and validated at sea in Mediterranean coastal waters, within two configurations. However, the potentialities of the "MAUVE" project open a much wider spectrum of potential applications, ranging from the monitoring of sub-ice conditions to the surveillance of various dumping sites, through the inspection of the quality of bathing waters.
7 citations
23 Sep 1996
TL;DR: The MAUVE project as mentioned in this paper developed and validated at sea a miniaturized, reconfigurable, mobile and autonomous instrumented vehicle, dedicated to multipurpose survey, in particular in coastal waters.
Abstract: The overall objective of the MAUVE project is to develop and validate at sea a miniaturized, reconfigurable, mobile and autonomous instrumented vehicle, dedicated to multipurpose survey, in particular in coastal waters. It will be characterized by coherent integration of a compact automatic multiparameter measurement module with a very small autonomous underwater vehicle, enabling sensor-driven navigation. Such a demonstrator, derived from an existing "torpedo-shaped" AUV (CALAS), is being developed and will be validated at sea in Mediterranean coastal waters, within "plume survey" and "bottom mapping" configurations. However, the potentialities of the "MAUVE" project open a much wider spectrum of potential applications, ranging from the monitoring of sub-ice conditions to the surveillance of various dumping sites, through the inspection of the quality of bathing waters.
5 citations
Journal Article•
TL;DR: The design concept and the implementation of the electric control system of the recovering system for the autonomous underwater vehicle (AUV) "Explorer" consists of two parts: surface and underwater parts.
Abstract: This paper presents in detail the design concept and the implementation of the electric control system of the recovering system for the autonomous underwater vehicle (AUV) "Explorer". This system consists of two parts: surface and underwater parts. This recovering system can conduct underwater movements flexibly, and the orientation and depth can be adjusted. Relied on TV tracking technique and sonar positioning system, the butt between the recoverer and the underwater robot can be performed.
4 citations
01 Jan 1996
TL;DR: The AUV (Autonomous Underwater Vehicle) MARTIN was developed in 1995 for oceanographic and industrial surveys down to 100 metres as mentioned in this paper. But its performance was limited by its low-drag hull.
Abstract: The AUV (Autonomous Underwater Vehicle) MARTIN was developed in 1995 for oceanographic and industrial surveys down to 100 metres. Tank tests and sea trials have proven the excellent manoeuvrability of the flatfish shaped, low-drag hull. The wide range of instrumentation includes bathymetric sonar systems, video systems and pipe tracking equipment.
3 citations
TL;DR: In this paper, the authors describe the design of a low-cost, remotely operated underwater vehicle (ROV) which will provide a test-bed for underwater vehicle control techniques.
Abstract: Underwater vehicles are beginning to replace divers in an environment which is not only hazardous but which is restricted to relatively shallow water. Vehicles can descend to much greater depths than divers and can remain there for longer time spans with less supporting equipment. Currently they are used primarily for inspection purposes but are being developed for robotic maintenance and repair work. Control of an underwater vehicle is a complex area of work, and modern vehicles continue to tax the design skills of the control engineer. A combination of simulation and experimentation produces an effective design environment and this combination lies at the heart of the work presented here. This paper describes the design of a low-cost, remotely operated. underwater vehicle (ROV) which will provide a test-bed for underwater vehicle control techniques. The design specification was for a Im long vehicle with a maximum diameter of IOcm. The payload carried would be a maximum of 3kg with a target speed range of 0 to 8 knots and a depth capability of 6 metres. The duration of a mission was to be 15 minutes. Simulation studies have been carried out to assess modem techniques for control of vehic le heading and preliminary results of testing fuzzy logic and sliding mode methods are presented.
2 citations