Showing papers on "Intervention AUV published in 2003"
01 Jan 2003
TL;DR: The ALIVE project as mentioned in this paper developed an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use, and the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System).
Abstract: An Intervention-AUV (or I-AUV), is a hover capable AUV whose primary role is direct contact with subsea structures for measurement or physical manipulation of components. The aim of the ALIVE project is to develop an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use. This paper describes the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System). It then outlines the sonar and video sensor processing techniques used for real-time control of the AUV to perform tracking and 3D pose reconstruction. In addition, details of the system tests and practical trials used in the development process are described.
150 citations
TL;DR: The problem of depth control for unmanned underwater vehicles (UUV) is addressed and different control schemes, based on PID and fuzzy techniques, are proposed and their performances compared.
73 citations
TL;DR: An autonomous investigation method of underwater structures using AUVs that is implemented by initially detecting the target objects, localizing them, then approaching them by taking video images while closely tracing their shape is proposed.
69 citations
01 Jan 2003
TL;DR: In this article, an optimal control algorithm based on a state equation composed of the AUV dynamics and the optical flow equation is presented for an AUV to dock into an underwater station with one camera installed at the nose center of AUV.
Abstract: Docking systems are required to increase the capability of autonomous underwater vehicles (AUVs) to recharge the batteries and to transmit data in real time in underwater. This paper presents a docking system for an AUV to dock into an underwater station with one camera installed at the nose center of the AUV. To make a visual servo controller, this paper presents an optimal control algorithm based on a state equation composed of the AUV dynamics and the optical flow equation. The control inputs of the AUV are generated with the projected target position on the CCD plane of the camera and with the AUVs motion. This paper introduces a test bed AUV for underwater docking developed in Korea Research Institute of Ships and Ocean Engineering (KRISO), KORDI of Korea. The AUV is propelled with one thruster and controlled with two horizontal planes and two vertical planes. Experiments will be performed in Ocean Engineering Basin of KRISO to demonstrate the effectiveness of the modeling and control law of the visual servoing AUV. The AUV identifies target position with processing the captured image of the lights mounted around the entrance of the dock. This paper also presents a strategy to identifier the target with lights arrays.
57 citations
01 Jan 2003
TL;DR: In this paper, a new experimental AUV, called "MARINE BIRD" with new underwater docking and recharging system was developed, which is based on an original, unique concept, different from previous ones.
Abstract: Autonomous Underwater Vehicles (AUVs), used by marine scientists mainly, have to refuel and download data regularly. Usually, AUVs resurface and are recovered for these routine tasks, but surfacing waste time and manpower for AUV's launch and recovery on a support ship. Especially, the cost of manpower on the support ship is in problem for long-term monitoring. To solve these problems, some concepts of underwater docking and recharging, that AUV docks with a fixed (or mobile) base, to recharge its batteries and download data, are suggested. When AUVs need no surfacing for routine tasks by this system, it will become a 'completely autonomous' underwater observation and monitoring system in the future. Some devices of underwater docking and recharging system for AUVs have been suggested and underwater-tested in U.S. and Europe, but we have developed a new experimental AUV, called "MARINE BIRD" with new underwater docking and recharging system. This system is based on an original, unique concept, different from previous ones. We have also carried out docking trials in the dock, the MARINE BIRD succeeded the docking test and demonstrated the excellence of its autonomous docking capability. This paper introduces an overview of MARINE BIRD, docking and recharging system, and test results of docking test.
38 citations
04 Jun 2003
TL;DR: In this study, the development of a vision system guiding an Autonomous Underwater Vehicle (AUV) able to detect and track automatically an underwater power cable laid on the seabed has been the main concern.
Abstract: Nowadays, the surveillance and inspection of underwater installations, such as power and telecommunication cables and pipelines, is carried out by trained operators who, from the surface, control a Remotely Operated Vehicle (ROV) with cameras mounted over it This is a tedious, time-consuming and expensive task, prone to errors mainly because of loss of attention or fatigue of the operator and also due to the typical low quality of seabed images In this study, the development of a vision system guiding an Autonomous Underwater Vehicle (AUV) able to detect and track automatically an underwater power cable laid on the seabed has been the main concern The system has been tested using sequences from a video tape obtained by means of a ROV during several tracking sessions of various real cables The average success rate that has been achieved is about 90% for a frame rate higher than 25 frames/second
34 citations
08 Dec 2003
TL;DR: This work has developed a prototype miniature low-cost autonomous underwater vehicle designed as a test-bed for the development of distributed control and estimation algorithms, and for experiments in advanced navigation and control.
Abstract: Platoons of cooperating autonomous underwater vehicles have the potential to contribute significantly to scientific investigations in the marine environment. Platoons of vehicles can survey large areas, adaptively track and measure time-varying processes such as tidal fronts and algal blooms, and they are robust to single-point failures. We have developed a prototype miniature low-cost autonomous underwater vehicle to address the platform requirements of these missions. The vehicle is designed as a test-bed for the development of distributed control and estimation algorithms, and for experiments in advanced navigation and control.
26 citations
TL;DR: In this article, the authors report the development and results of at-sea field testing of a new control system for remotely operated under water vehicles, providing model-based closed loop trajectory tracking control in addition to conventional PID control, dynamic power management, and a high level of power control and monitoring.
18 citations
01 Sep 2003
TL;DR: In this article, the behavior and control system required for an AUV to maneuver over an obstacle in the vertical plane is examined. And a two-dimensional, 24 deg vertical scan forward-look sonar with a range of 100 m is modeled for obstacle detection.
Abstract: : As the Navy continues its development of unmanned underwater vehicles, the need for total autonomous missions grows Autonomous Underwater Vehicles (AUV) allow for advances in mine warfare, harbor reconnaissance, undersea warfare and more Information can be collected from AUVs and downloaded into a ship or battle group's network As AUVs are developed it is clear forward-look sonar will be required to be able to detect obstacles in front of its search path Common obstacles in the littoral environment include reefs and seawalls which an AUV will need to rise above to pass This thesis examines the behavior and control system required for an AUV to maneuver over an obstacle in the vertical plane Hydrodynamic modeling of a REMUS vehicle enables a series of equations of motion to be developed to be used in conjunction with a sliding mode controller to control the elevation of the AUV A two-dimensional, 24 deg vertical scan forward look sonar with a range of 100 m is modeled for obstacle detection Sonar mappings from geographic range-bearing coordinates are developed for use in MATLAB simulations The sonar 'image' of the vertical obstacle allows for an increasing altitude command that forces the AUV to pass safely over the obstacles at a reasonable rate of ascent and pitch angle Once the AUV has passed over the obstacle, the vehicle returns to its regular search altitude This controller is simulated over different types of obstacles
17 citations
01 Jan 2003
TL;DR: The goals, technical challenges, and activities of the project PISCIS (Multiple Autonomous Underwater Vehicles for Coastal and Environmental Field Studies) as discussed by the authors were reviewed in the context of the Underwater Systems and Technologies Laboratory from Porto University.
Abstract: The goals, technical challenges, and activities of the project PISCIS – Multiple Autonomous Underwater Vehicles for Coastal and Environmental Field Studies – are reviewed in the context of the activities of the Underwater Systems and Technologies Laboratory from Porto University.
Patent•
15 Jan 2003
TL;DR: In this paper, the authors describe a new method for constructing an AUV, which is based on modules that each houses a certain function, sensor or equipment of the AUV and also covers the software that is modular and based on mimickling the crew of a research vessel.
Abstract: This patent application describesa new method for constructing an Autonomous Underwater Vehicle (AUV). The construction is firstly based on modules that each houses a certain function, sensor or equipment of the AUV. Secondly the modular construction also covers the software that is modular and based on mimickling the crew of a research vessel. Thus there are software modules that handle the different types of steering of the AUV, a captain that oversees the general operation and mission of the AUV, a scientific mission leader, scientists that handle individual sensors and the processing of their measurements, an engineer that oversees the functions of the mechanical units etc.
01 Jan 2003
TL;DR: In this paper, the authors proposed a navigation method for AUV's to observe underwater structures such as piles and caissons in harbors, and risers and jackets of deep-sea oilfields by taking visual images.
Abstract: To investigate underwater structures such as piles and caissons in harbors, and risers and jackets of deep-sea oilfields by taking visual images, Autonomous Underwater Vehicles (AUV's) have advantages that they have no umbilical cable which may get entangled in the structures and surrounding obstacles. The authors have proposed a navigation method for AUV's to observe such objects using a laser ranging system that consists of TV camera and laser pointing devices in previous papers. This ranging system provides precise distance to the target object so that the vehicle can trace the shape of the target object keeping constant distance and attitude. The method was implemented in the testbed AUV "Tri-Dog 1", and proved experimentally through tank tests in 2001. Following the success of the tank tests, the authors have carried out sea trials in 2002 at the port of Kamaishi, Japan, which has huge breakwaters. This paper describes the result of the sea trials and our perspectives. Based on the proposed system, AUV's will be able to carry out autonomous investigation of underwater structures in the near future.
TL;DR: In this article, an active buoyancy control system for an underwater vehicle (AUV) is described for underwater video surveying and as a general AUV testbed using an enhanced version of Brook's behaviour based Subsumption Architecture.
TL;DR: A possible strategy to generate the driving commands for underwater autonomous vehicles is proposed based on kinematic control techniques, and the case of obstacle avoidance in an underwater scenario is explicitly taken into account.
25 Jun 2003
TL;DR: In this article, the authors describe cable tracking method and recent activities of autonomous underwater vehicle (AUV) named Aqua Explorer 2 (AE-2) and Aqua Explorer 2000 (AE2000) which were developed for the inspection of submarine cables.
Abstract: This paper describes cable tracking method and recent activities of autonomous underwater vehicle (AUV) named Aqua Explorer 2 (AE-2) and Aqua Explorer 2000 (AE2000) which were developed for the inspection of submarine cables. These AUVs can find and trace underwater telecommunication cables by using cable tracking sensor. Last winter, authors conducted an experiment for cable tracking in a shallow bay where the electric wire was laid in the shape of a loop from the wharf. AE2 launched from the wharf, traced the cable, and returned to the start position successfully.
01 Jan 2003
TL;DR: In this paper, the authors presented the results of the sea area examination executed from 2000 to 2002, where the AUV cruised more than 130km along the preprogrammed route while having submerged.
Abstract: Japan Marine Science and Technology Center (JAMSTEC) has advanced the development of an ocean going autonomous underwater vehicle (AUV). Technical problem on an AUV is to develop instruments for digital telemetry, highly accurate positioning in the sea and an efficient power source. The AUV in JAMSTEC has digital telemetry, accurate positioning system and high energy density battery. Sea test started in 2000, results were fed back to instruments to improve AUV performances. The quality of the communication has improved by the noise reduction. The positional error of the AUV was evaluated with a track given by an acoustic positioning system and DGPS on board a support vessel. The examination was planned and expanded based on previous results step by step. As the result, the AUV cruised more than 130km along the preprogrammed route while having submerged. This paper summarized the result of the sea area examination executed from 2000 to 2002.
10 Nov 2003
TL;DR: An optical triangulation-correlation sensor for estimating the linear motion of underwater vehicles at low speed in the proximity of the seabed is described and results obtained by post-processing image sequences acquired by the instrument mounted below the Romeo ROV in operating conditions are presented.
Abstract: An optical triangulation-correlation sensor for estimating the linear motion of underwater vehicles at low speed in the proximity of the seabed is described. Experimental results, obtained by post-processing image sequences acquired by the instrument mounted below the Romeo ROV in operating conditions, are presented.
01 Sep 2003
TL;DR: In this paper, the authors discuss motion compensation in the context of initial evaluations of the performance of the CSS AUV-based synthetic aperture sonar (SAS) system, which is used at the Coastal Systems Station (CS Station).
Abstract: To date, ocean-going synthetic aperture sonar (SAS) systems have been deployed exclusively in a configuration where the sonar instrument is housed in a towed body that receives power from and exchanges information with the vessel to which it is attached. Meanwhile, recent years have witnessed the beginnings of maturity with respect to both SAS and autonomous underwater vehicle (AUV) technologies. In order to move away from the towed sonar paradigm, the Coastal Systems Station has recently taken delivery of and begun using the first AUV-based SAS. The AUV was manufactured by Blue n Robotics and the sonar used on this vehicle is the existing CSS LF/HF SAS. This transition is not without its challenges, however, as the operation and dynamic behavior of an AUV is different from that of a towed body. In general, the AUV configuration makes the problem of unwanted platform motion more severe and more difficult to solve. This paper discusses motion compensation in the context of initial evaluations of the performance of the CSS AUV-based SAS system.
Journal Article•
TL;DR: A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given, and results from computer simulation show that the precision of the fault- tolerance control approach is satisfactory.
Abstract: In order to insure that autonomous underwater vehicle completes the tasks successfully in unstructured and hazardous oceanic environment with the high pressure and low visibility, an efficient and effective fault-tolerant control system becomes imperative for AUVs. This paper discussed thrust fault-tolerant control technology for ZHISHUI Ⅲ AUV, designed at Harbin Engineering University. A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given. Results from computer simulation show that the precision of the fault-tolerant control approach is satisfactory.
08 Oct 2003
TL;DR: A semi-physical virtual reality system applying to autonomous underwater vehicle control study is presented and the vehicle software can be simulated in the laboratory before real experiments taking place and the merit and demerit of some newly AUV system can be confirmed.
Abstract: A semi-physical virtual reality system applying to autonomous underwater vehicle control study is presented in this paper. This system is composed of three nodes: (1) autopilot node for mission planning and control, (2) virtual node for virtual devices and sensors and (3) visualization node for virtual ocean environment and display the state of AUV. The autopilot node can be both linked to the real sensors and actuators dealing with a real mission, and linked to the virtual world for simulation. The advantages of this semi-physical virtual reality system include that: (1) the vehicle software can he simulated in the laboratory before real experiments taking place, (2) the merit and demerit of some newly AUV system can be confirmed, (3) Moreover intensive testing is easy and its cost is not too expensive.
TL;DR: In this paper, the authors present results from the experimental evaluation of a control architecture for visually guiding an AUV to detect and track an underwater power cable laid on the seabed.
TL;DR: In this article, the development of a control architecture for visually guiding an AUV to detect and track an underwater power cable laid on the seabed has been the main concern.
08 Dec 2003
TL;DR: The development of a laser-based ranging device, as part of a sensor work package that is to be integrated into an autonomous underwater vehicle, capable of range detection within 2% absolute error and capable of robust operation in turbid ocean environments.
Abstract: This paper describes the development of a laser-based ranging device, as part of a sensor work package that is to be integrated into an autonomous underwater vehicle. The objective of the laser ranging component includes robust operation in turbid ocean environments from 1 to 10 meters with a balance of accuracy and speed. A calibration technique that utilizes a spline interpolation is employed as an accurate, yet simple alternative to conventional triangulation methods. The resulting configuration is capable of range detection within 2% absolute error, at a 10 Hz refresh rate, out to 4 meters in turbid ocean conditions, and to greater than 10 meters in air. The maximum underwater range of the system is currently limited by the existing hardware, whereas the software is ready for any future system upgrades.
01 Jan 2003
TL;DR: The motivation for developing autonomous underwater gliders is essentially economy, and it is argued that oceanographers would know more about the ocean if the access price were lower.
Abstract: The motivation for developing autonomous underwater gliders is essentially economy. Oceanographers would know more about the ocean if the access price were lower. Ships have served the ocean community well in describing the basic phenomenology of physical, chemical, biological, and geological processes at work in the oceans. Yet these processes invariably occur at temporal and spatial scales too short to be resolved, and extents too long to be covered, by shipbased measurements without prohibitive cost.
01 Aug 2003
TL;DR: A steady state model of a thruster and a general equation of rigid-body motion for an underwater robotic vehicle (URV) is presented and appropriate stabilizing controllers for two control modes: manual cruise and station keeping are designed.
Abstract: In this paper, a steady state model of a thruster and a general equation of rigid-body motion for an underwater robotic vehicle (URV) is presented. By means of modelling, simulation and exp...
25 Jun 2003
TL;DR: The outline of autonomous underwater vehicle (AUV) "R2D4" for survey of seabed in deep water is presented and it possesses a function which can autonomously modify its navigation course in order to execute detailed investigation when an environmental anomaly is detected.
Abstract: This paper presents the outline of autonomous underwater vehicle (AUV) "R2D4" for survey of seabed in deep water. This project has been started in 2001. The new vehicle was launched in May 2003. The vehicle is 4.4 m long, 1.4 tons in weight, can dive to 4,000 m deep and has many payload sensors. As a special feature of the "R2D4", it possesses a function which can autonomously modify its navigation course in order to execute detailed investigation when an environmental anomaly is detected, which is judge by its main computer based on data obtained from the payload sensors.
Dissertation•
01 Jan 2003