Showing papers on "Intervention AUV published in 2006"

Sensor networks of freely drifting autonomous underwater explorers

Abstract: With the increasing sophistication of both manned and unmanned systems for remote ocean exploration, a wealth of knowledge about heretofore-unknown oceanic processes has become available. However, no technologies currently exist to observe organisms and processes without disturbing them, as they move with the natural motion of the oceans. We propose a new class of ocean sensing, whereby free-floating underwater devices operate autonomously and collaborate through an acoustic underwater network between them. This new class of sensing will provide a window into understanding the multifaceted interactions between the ocean's currents, underwater ecosystems and our impact on them. In this paper, we will present the design of our underwater vehicle, which drifts freely with the ocean currents and is equipped with a buoyancy control piston. Results from sea tests illustrate the feasibility of our design, including its depth tracking abilities.

Potential of autonomous underwater vehicles as new generation ocean data platforms

Abstract: This article introduces the reader to a new generation of ocean data platforms known as Autonomous Underwater Vehicles (or AUVs) brought about by promising technology developments in new sensors, memories, embedded controllers and materials. There has been a growing interest by oil and gas exploration industry in using deep water AUVs to map bathymetry around an oil well head, by the navy in mine surveillance or intelligence gathering, and abundant activity by the scientific and engineering communities scattered in several dozen universities and research establishments around the globe in building their own versions of AUVs for scientific data collection. In order to demystify the notion that AUVs are complex, high technology devices, we include a description of the main building blocks that go into the design of an AUV. This is followed by a brief look at the current scenario in AUV developments, but narrowing our attention to three noteworthy operational AUVs, and to our on-going development of a small AUV at the National Institute of Oceanography, Goa. The ultimate aim in AUV research and development is to reach the stage of unescorted missions that will see AUVs leaving and entering the world's harbours autonomously or doing the same from the shore. We shall see that this implies the implementation of safety standards of a high degree in a stable, well-tested and reliable vehicle architecture.

Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder

Abstract: This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.

Review of Machine Vision Applications in Unmanned Underwater Vehicles

Abstract: This paper presents a review of recent research efforts in the field of the application of machine vision in the control of unmanned underwater vehicles (UUV). The paper focuses on five particular applications for machine vision underwater. Each application is discussed and its evolution into its present state is analysed by looking at different projects. Projects are categorised for each application and an assessment regarding the performance of the strategies is given. Their advantages and disadvantages are discussed. Based on the authors? observations, possible future trends are identified for each application.

Small AUV for Hydrographic Applications

Abstract: OceanServer Technology, Inc. has designed a new, low-cost AUV that is well suited as a reasonably priced, ultra high accuracy survey device. The Iver2 AUV is introducing two new positioning technologies (patent pending) that can provide horizontal position accuracy in the sub-5 Meter range. The vehicle can also operate in exceptionally shallow water and surf zones where it is difficult to collect data utilizing boats. The Iver2 AUV with its VectorMap mission planning software provides an integrated system for mission planning, vehicle tracking and overlaying the resulting data on the original mission lines. The combination of a low-cost vehicle and a simple operating model allows for easy plan and launch of a set of vehicles to automatically survey large difficult near shore areas.

AUVish: An Application-Based Language for Cooperating AUVs

Abstract: AUVish is an application-based language for Autonomous Underwater Vehicles (AUVs), designed to facilitate cooperative behaviors needed for complete coverage in underwater mine countermeasures (MCM). Initially, AUVish was developed to support the computer simulation of replacing lost vehicles. Additional cooperative tasks were added to the simulations and AUVish was modified to handle the complications that arose. The syntax, semantics, and pragmatics of AUVish are explored, along with the processing and application of AUVish messages. A comparison with existing AUV languages concludes the essay.

A new paradigm for ship hull inspection using a holonomic hover-capable auv

Abstract: The MIT Sea Grant AUV Lab, in association with Bluefin Robotics Corporation, has undertaken the task of designing a new autonomous underwater vehicle, a holonomic hover-capable robot capable of performing missions where an inspection capability similar to that of a remotely operated vehicle is the primary goal. One of the primary issues in this mode of operating AUVs is how the robot perceives its environment and thus navigates. The predominant methods for navigating in close proximity to large iron structures, which precludes accurate compass measurements, require the AUV to receive position information updates from an outside source, typically an acoustic LBL or USBL system. The new paradigm we present in this paper divorces the navigation routine from any absolute reference frame; motions are referenced directly to the hull. We argue that this technique offers some substantial benefits over the conventional approaches, and will present the current status of our project.

Autonomous Underwater Vehicles for Port Protection

Abstract: NATO’s present capability to deal with a terrorist threat to our ports is slow, dangerous, and inefficient. Ports are a challenging area within which to conduct MCM operations due to several factors: shipping movements, very shallow water, turbidity, confined space, mine burial due to muddy/silty conditions, and high clutter density. The shortfall in NATO’s ability to deal with this problem has been recognised by NATO Strategic Commanders who gave the highest priority to MCM for Force Protection and CounterTerrorism. Recent progress in underwater robotics has been aimed at developing small, rapidly deployable Autonomous Underwater Vehicles (AUV) to achieve a large spatial sampling for both acoustic and nonacoustic measurements. The vehicles that are now commercially available, have great potential to work in conjunction with existing MCM assets and have several advantages: significantly faster search rate, reduced danger to divers, rapid deployability, and ability to carry out surveys in confined areas. The NATO Undersea Research Centre studies the performance of AUVs equipped with COTS sensors and working in conjunction with conventional assets (Mine Hunters and divers) to carry out MCM operations in ports and port approaches. To measure the effectiveness of this new technology in comparison to current practice, several experiments have been conducted in the ports of La Spezia (Italy), Strenraer (Scotland), Rotterdam (Netherlands) and Olpenitz (Germany). The paper summarizes the results and discusses the lessons learnt from the trials.

Autonomous manipulation for an intervention AUV 217

Abstract: In this chapter, the evolution of the hardware of underwater manipulators will be described by introducing an electromechanical arm of SAUVIM, and some theoretical issues with the arm control system will be discussed, addressing the required robustness in different situations that the manipulator may face during intervention missions. An advanced user interface will then be briefly discussed, which helps to cope with the communication limits and provides a remote programming environment where the interaction with the manipulator is limited only to a very high level. An application example with SAUVIM will be presented before conclusions.

Development of a Compact Hybrid Underwater Vehicle Using Variable Vector Propeller

Abstract: This paper describes an autonomous underwater vehicle (AUV) with fuzzy controller and PID controller. Our AUV is compact and light in weight by employing variable vector (VARIVEC) propeller and compact controller. The AUV is autonomously controlled by utilizing the electronic compass, collision avoidance sonar, depth sensor and GPS receiver unit. A fuzzy controller and PID controller have designed and examined in autonomous navigation. Experimental results indicate that our AUV can move along the targeted path and hold the desired position and the depth. Furthermore, we have responded to demand of fisheries and environmental survey companies, the untethered remotely operated vehicle (UROV) is developed for monitoring the real-time image under the sea. The feature of the UROV is controlled utilizing both of wireless and optical fiber. The UROV is controlled smoothly and clearly image is captured by remote control method. We can survey the buried cultural property in the field of maritime archaeology.

The Improvement of the Prescision of an Inertial Navigation System for AUV based on the Neural Network

Abstract: "URASHIMA" is an Autonomous Underwater Vehicle which was developed in Japan Agency for Marine-Earth Science and Technology in Japan. "URASHIMA" has the Inertial Navigation System in order to know its own current position, and it can cruise autonomoulsy owing to the position data. However the position data includes some error which increases with the passage of time. In this paper, the method to improve the precision of the Inertial Navigation System based on the neural network is described. The network outputs the position data, which compensates the error of the position data calculated from it.

Multisensor Fusion for Navigation of Underwater Vehicles

Abstract: The guidance of underwater vehicles presents a high challenge for the applied algorithms. The difficulties are mainly determined by the highly non-linear behavior of the vehicle, the very complicated position determination and ? resulting from the vehicle's behavior ? a robust design of the autopilot. Multisensor fusion is used for hundreds of years on sailing ships and is also a proven concept for the position calculation of underwater vehicles. This paper gives an overview of the techniques used for navigation of a remotely operated and an autonomous vehicle.

CAN-Bus-Based Control System for Autonomous Underwater Vehicle

Abstract: CAN bus is applied to autonomous underwater vehicle(AUV) to construct a distributed control system with multimaster to replace the traditional centralized control structure and master-slave network structure used by AUVThe application of CAN bus in AUV is introduced from the viewpoint of the hardware and softwareThe controller of CAN bus(using) P87C591 microcontroller is designedAccording to the features of the AUV distributed control system,the application layer protocol of CAN bus with corresponding software is designedThe feasibility and reliability of the control system is ve￣rified with lake test

A Study on the Structural Design and Analysis of a Deep-sea Unmanned Underwater Vehicle

Abstract: This paper discusses the structural design and analysis of a 6,000 meters depth-rated capable deep-sea unmanned underwater vehicle (UUV) system. The UUV system is currently under development by Maritime and Ocean Engimeeimg Rereauch Institute(MOERI), Korea Ocean Research and Development Institute (KORDI). The UUV system is composed of three vehicles - α Remotely Operated Vehicle (ROV), an Autonomous Underwater Vehicle (AUV) and a Launcher - which include underwater equipment. The dry weight of the system exceeds 3 tons hence it is necessary to carry out the optimal design of structural system to ensure the minimum weight and sufficient space within the frame for the convenient use of the embedded equipments. In this paper, therefore, the structural design and analysis of the ROV and launcher frame system were carried out, using the optimizing process. The cylindrical pressure vessels for the ROV were designed to resist the extreme pressure of 600 bars, based on the finite element analysis. The collapse pressure for the cylindrical pressure vessels was also checked through a theoretical analysis.

Research Progress in Underwater Gliders

Abstract: Underwater gliders,as a new kind of underwater vehicle,can be used as underwater monitoring platform for long-range,long-time and large-scale ocean environment monitoring.Firstly,this paper describes the survey of the development status of underwater gliders at home and abroad,and analyses its potential application fields.Secondly,an underwater glider system,being developed by Shenyang Institute of Automation,Chinese Academy of Sciences,is presented in particular.The underwater glider system design includes system general design,body shell optimal design,actuator design and control system design.Two types of underwater gliders' locomotion,constant gliding motion and space helix turning motion,are studied,and its motion performances are analyzed at the same time.

AUV 'r2D4', its operation, and road map forAUV development

Abstract: Starting by simply lowering sensing equipment into the ocean from boats, the development of new technology and methods to gain access to the ocean has led to the birth of submarines, remotely operated vehicles (ROVs) and under water observation stations connected to land via cables. These advancements have made possible observations that were unimaginable 100 years ago. Now, autonomous underwater vehicles (AUVs) are being introduced as a new observation platform.

An autonomous underwater vehicle for observation of underwater structure

Abstract: Various kinds of robots have been developed actively with progress of computer, and the operations with robots in the extreme environment such as rescue, space and ocean are getting practical solutions. The underwater robots are expected as one of solutions for underwater activities, i.e., maintenance of underwater structures, observations, scientific research, and their efficiencies are investigated in the oceans during recent decades. And according with human activities, the underwater structures are also getting large-scale and large-depth. In order to do safe and efficient works, the underwater activities are desired to be carried out automatically as possible. This paper describes development of an autonomous underwater vehicle for observation of underwater environment.

Computer Vision, Sonar and Sensor fusion for Autonomous Underwater Vehicle (AUV) Navigation

Abstract: Even though a lot of research has been devoted towards AUVs in the West, the developing Eastern nations like India lack programs for development of AUV technologies that would better position them to understand their oceans As such, the Indian Underwater Robotics Society started development of the first Indian AUV that would be portable and low cost while having widespread applications in academia, science, military, communication systems and public safety industries The most important aspects of an AUV are its sensors, computer vision and sonar subsystems that assist its navigation This paper presents some details on the sensor systems that were used in the AUV last year and also some of the developments that are in the pipeline for this year; including details on the patented computer vision system TOUCH and a passive sonar subsystem

Status of the Atlas Elektronik’s Modular AUV Family

Abstract: As opposed to ROVs (Remotely Operated Vehicles), self-propelled, unmanned autonomous underwater vehicles (AUVs) are becoming increasingly important since, unlike ROVs they can operate completely self-sufficiently, i.e. independent of the carrier platform and cable at practically any depth and for long periods of time, require only minor technical and logistic support and can be used in regions which are inaccessible to manned submersibles or ROVs (e.g. under ice regions). In other words, AUVs are distinguished by a wide range of applications, the extremely high quality of data collected, their very cost-effective operation and the large standoff capability to the carrier platform, the latter bringing about a distinct improvement in terms of carrier platform safety e.g. for military missions. Due to these advantages over conventional systems, AUVs can be employed for a whole variety of applications, such as the following in the commercial sector: • Sea Bed Mapping, • Pipeline and Route Survey, • Inspection/Control, • Site Clearance, • Debris Survey, • Science – Search – Environment – Geology, • Harbour and ship’s hull inspection. Moreover AUVs will play an important role in the military scenario like mine countermeasure as well. Obviously, one single type of AUV will be unable to cover this entire spectrum if — above and beyond the aforementioned applications — one considers the different operating depths ranging from coastal regions (about 10 m) to deep water (approx. 4000 m) and the various possible carrier platforms (helicopters, ships, submarines, shore stations). On the other hand, the development and use of one specific type of AUV for one or a very limited number of mission types would be very expensive, both in terms of costs involved and necessary logistics, and would hardly be acceptable on the market. The solution to this problem is the “modularity” of the AUV subsystems as well as a family concept for the vehicle design. To implement this strategy, ATLAS ELEKTRONIK has forced the development and marketing of an AUV family for a wide array of missions. The family starts with the SeaFox-IQ , a very small and lightweight (40 kg) AUV for 300 m diving depth, based on the extreme successful mine disposal ROV SeaFox. The big brother is the SeaStout , a 100 kg AUV, designed for 300 m too. The SeaOtter Mk1 and SeaOtter Mk2 AUVs are 1500 kg and 1100 kg vehicles for 600 m operations. The leading edge is the AUV DeepC , a 2500 kg experimental vehicle developed for 4000 m depth and up to 60 h endurance. The ATLAS AUV family offer a lot of hard- and software commonality to ensure that serviceability is maintained, while having a high degree of “customisation” in key areas like payload sensor selection ensuring they will meet customer needs.Copyright © 2006 by ASME

Thruster control allocation for over-actuated, open-frame underwater vehicles

Abstract: This chapter introduces a new hybrid approach associated with the thmster control allocation problem for over-actuated thruster-propelled open-frame underwater vehicles (UVs). The work presented herein is applicable to a wide class of control allocation problems, where the number of actuators is higher than the number of objectives. However, the application described here is focused on two remotely operated vehicles (ROVs) with different thruster configuration.

An Autonomous Underwater Vehicle for Validating Internal Actuator Control Strategies

Abstract: There are benefits to the use of internal actuators for rotational maneuvers of small-scale underwater vehicles. Internal actuators are protected from the outside environment by the external pressure hull and will not disturb the surrounding environment during inspection tasks. Additionally, internal actuators do not rely on the relative fluid motion to exert control moments, therefore they are useful at low speed and in hover. This paper describes the design, fabrication and testing of one such autonomously controlled, internally actuated underwater vehicle. The Internally Actuated, Modular Bodied, Untethered Submersible (IAMBUS) can be used to validate non-linear control strategies using internal actuators. Vehicle attitude control is provided by three orthogonally mounted reaction wheels. The housing is a spherical glass pressure vessel, which contains all of the components, such as actuators, ballast system, power supply, on-board computer and inertial sensor. Since the housing is spherically symmetric, the hydrodynamics of IAMBUS are uncoupled (e.g. a roll maneuver does not impact pitch or yaw). This hull shape enables IAMBUS to be used as a spacecraft attitude dynamics and control simulator with full rotational freedom.

Intelligent underwater systems and technologies use in integrated ocean observation systems

Abstract: The paper highlights need for R&D in the area of Intelligent Underwater Systems and Technologies (particularly use of ROV and AUV) for Strategic Marine Ecosystem Research Goals, Environmental Monitoring of Ocean Resources and their exploitation in Croatia. Also this approach support small and medium enterprises for adoption of new technologies and development of highly sophisticated products and services of high value added. Current situation, in regard to needs for technical support linked to obligations of proclamation of the ecological and fishing zone and establishment of coast guard, points to necessity of development in this area. The paper gives an overview of modern technology in this area and possible application in the Republic of Croatia. The research project “Guidance and Control of Autonomous Moving System for Underwater Monitoring” is presented in the paper.