Showing papers on "Intervention AUV published in 2007"

The Development and Ocean Testing of an AUV Docking Station for a 21" AUV

Abstract: The Monterey Bay Aquarium Research Institute (MBARI) has developed an AUV docking station for a 21-inch (54 cm) diameter AUV. The system was designed for operation with cabled undersea observatories in water depths up to 4 km deep and has been demonstrated in the open ocean, though at much shallower depths. The program demonstrated successful autonomous homing and docking, data downloads, uploading of new mission plans, battery recharging, and complete power cycling of the AUV. We describe the design, and at-sea tests.

Making AUVs Truly Autonomous

Abstract: Autonomous underwater vehicles are gaining acceptance in a number of applications and countries, as a safe, cost-effective and reliable alternative to manned or remotely controlled systems. However, the actual autonomy of these vehicles is limited in many ways, restricting their potential uses. Further advances in AUV autonomy will enable new operations, such as very long endurance missions (weeks), and operations in unknown areas. While some experimentation is already taking place with e.g. under ice operations, the chance of failure is unacceptably high for many potential users. De-risking of long- endurance autonomous operations in unknown areas is thus an important goal for the AUV community. This paper gives an overview of the AUV research being carried out towards this end at the Norwegian Defence Research Establishment.

AUV Control and Communication using Underwater Acoustic Networks

Abstract: Underwater acoustic networks can be quite effective to establish communication links between autonomous underwater vehicles (AUVs) and other vehicles or control units, enabling complex vehicle applications and control scenarios. A communications and control framework to support the use of underwater acoustic networks and sample application scenarios are described for single and multi-AUV operation.

Development of an Active, Large Volume, Discrete Seawater Sampler for Autonomous Underwater Vehicles

Abstract: Engineers and researchers at the Monterey Bay Aquarium Research Institute (MBARI) have developed a water sampler that rapidly captures a 2-liter sample of seawater. This syringe-like sampler is spring actuated and can acquire a full sample in less than two seconds. This sampler will complement the wide array of sensors currently integrated on MBARI's autonomous underwater vehicles (AUVs). Although many properties of seawater can be analyzed by AUV onboard sensors, these measurements alone are often insufficient to fully investigate important scientific questions. Returning a discrete sample of seawater from the field, via an AUV, for laboratory analysis will expand the spectrum of research possible with AUV platforms. Using AUV onboard intelligence, designated sites and important phenomena can be targeted for acquiring water samples. This paper addresses the development, testing, and initial deployments of this sampler.

Autonomous Control of an Autonomous Underwater Vehicle Towing a Vector Sensor Array

Abstract: This paper is about the autonomous control of an autonomous underwater vehicle (AUV), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array. Mission related objectives are tempered by the need to consider the effect of a sequence of maneuvers on the motion of the towed array which is thought not to tolerate sharp bends or twists in sensitive material. We describe and motivate an architecture for autonomy structured on the behavior-based control model augmented with a novel approach for performing behavior coordination using multi-objective optimization. We provide detailed in-field experimental results from recent exercises with two 21-inch AUVs in Monterey Bay California.

ROAZ Autonomous Surface Vehicle Design and Implementation

Abstract: The design of an Autonomous Surface Vehicle for operation in river and estuarine scenarios is presented. Multiple operations with autonomous underwater vehicles and support to AUV missions are one of the main design goals in the ROAZ system. The mechanical design issues are discussed. Hardware, software and implementation status are described along with the control and navigation system architecture. Some preliminary test results concerning a custom developed thruster are presented along with hydrodynamic drag calculations by the use of computer fluid dynamic methods.

The Development of an Autonomous Underwater Powered Glider for Deep-Sea Biological, Chemical and Physical Oceanography

Abstract: A new generation of autonomous underwater gliders is currently being developed for the fields of marine biology, physical oceanography, and marine environmental studies, assessment and management at the Florida Institute of Technology, Melbourne Florida, USA. The end-product of the project will be an autonomous powered glider that collects video, acoustic, and physical data, simultaneously obtains water samples for chemical analysis through mass-spectrum analysis, and is able to gather biological specimens to improve and automate inspection and sampling of the marine environment. The powered glider will be programmed for surveying and analyzing specific phenomenons. During the project several scientific surveys will be performed to test the abilities of the new autonomous underwater vehicle (AUV). For example, the assessment of marine invertebrate larvae and zooplankton (e.g. Krill - Euphausia superba) will be investigated from samples that are collected or photographed. All operations will be completely autonomous with the exception of the high level communication between the AUV and the support vessel. The AUV will contain a specially developed modular measurement unit containing various sensors to determine conductivity, temperature, depth, turbidity, and other sensors to detect various chemicals such as chlorophyll.

AUV (Redermor) Obstacle Detection and Avoidance Experimental Evaluation

Abstract: Autonomous underwater vehicles (AUV) are expected to perform survey missions in both known and unknown environments. While the primary mission of an AUV is data collection, generally achieved with a sidescan sonar or a multibeam echosounder, another key task is to guaranty its own security. This paper deals with the problem of obstacle detection and avoidance by means of a forward looking sonar (FLS) mounted on the GESMA Redermor experimental AUV.

Innovation and operation with robotized underwater systems

Abstract: This paper reports on the status and design of the operational remotely operated vehicle Victor 6000, rated for 6000 m depth and of the 3000 m depth autonomous underwater vehicle Asterxx operated by Ifremer the French Institute for Sea Exploitation. Victor 6000 is part of a global system built of subsystems, scientific modules, winch and cable, dead weight and umbilical, positioning subsystem using acoustic ultra short base line (USBL) techniques, and software for data and dive management. In 2005 the system was equipped with a second toolsled dedicated to high resolution mapping of the sea bed, with both acoustical and optical devices. Asterxx, the first autonomous underwater vehicle (AUV) developed by IFREMER, is 4.5 m in length with a diameter of 0.69 m. Depending on the payload, its weight is between 600 and 800 kg in air,with a diving depth of 3000 m. Its cruising speed is between 0.5 and 2.5 ms. The AUV is capable of carrying various payloads for a wide spectrum of applications. The vehicle can cruise up to 100 km. For coastal applications this vehicle is operable by a limited crew potentially from a nonspecialized vessel. Both vehicles are used for oceanography as well as to continually evolve underwater systems to address new scientific challenges.

Low-cost Autonomous Underwater Vehicle for pipeline and cable inspections

Abstract: The design considerations of a low-cost adaptation of an autonomous underwater vehicle (AUV) devoted to pipeline and cable inspections is presented in this article. Periodic surveys are need in the preventive maintenance of submarine infrastructure of off-shore industries. The advantages of doing them with AUVs instead of remote operated vehicles or towed unmanned devices are low costs and better data quality in the inspection missions. Through a European Project funds (AUVI), the construction of a low-cost prototype for depths of 100 m AUV was initiated last year. The design considerations and proposed solutions, as well as a description of the hardware employed, the sensors in the payload, and the mission replanning module based on an expert system, are described in this work. Although a complete sea trial is still pending for the AUVI prototype, some computer and hardware in the loop simulations are briefly discussed.

Guidance, navigation and control system for the Tethra unmanned underwater vehicle

Abstract: High-resolution (acoustic & video) seabed survey requires deployment of sensors on platforms close to the seabed. The unstructured, harsh and hazardous nature of the ocean environment and close proximity to the seabed and other hazards produces serious problems for autonomous underwater vehicles (AUV) during the mission. The Mobile & Marine Robotics Research Centre at the University of Limerick is developing a highly manoeuvrable AUV/ROV platform to address the challenges of high-resolution seabed survey in both shallow and deep water. The overall system integrates state-of-the-art survey equipment, a multi-thruster open-frame AUV Tethra and an advanced control system. This paper gives an overview of the overall system including simulation results.

Rov autonomization - yaw identification and automarine module architecture

Abstract: The Automarine Module is a simple cost effective method for transforming underwater remotely operated vehicles (ROVs) into autonomous underwater vehicles (AUVs), with minimum development time, and with no ROV circuit alteration. This paper presents architecture of autonomization of the VideoRay Pro II ROV together with its technical specifications. The paper also presents a procedure for open-loop identification of the nonlinear yaw model. Analytical expressions that are used for model identification are also provided.

Decoupled modelling and controller design for the hybrid autonomous underwater vehicle : MACO

Abstract: Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle named MACO capable of 3-D station keeping and manoeuvring without forward velocity. This makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles. Once operational, MACO was used in a Defence Research and Development Canada (DRDC) feasibility study for using AUVs to support rapid deployment of acoustic element arrays. The AUV was required to stop and hover, while triggering a low frequency sound source. The performance of MACO during these sea trials is presented as the conclusion to this discussion.

Coordinated Operation of Autonomous Underwater and Surface Vehicles

Abstract: This work addresses the coordinated operation of an autonomous underwater vehicle and an autonomous surface vessel and its main goal is the development of an infrastructure that allows the surface vessel to dynamically position itself above the underwater vehicle while the later one is collecting data and navigating in long baseline mode using a set of beacons installed in the operation area. Besides a formal statement of the coordination problem, we present results both from real experiments and from simulations that illustrate the proposed solution.

Newly-developed Devices for The Two Types of Underwater Vehicles

Abstract: JAMSTEC has developed the two types of underwater vehicle since 2005: an ROV to the oceans' deepest depth called ASSS11k (advanced sediment sampling system to 11,000 meter) and a hybrid underwater vehicle for use in shallow-water to mid-depth zones named PICASSO (Plankton Investigatory Collaborating Autonomous Survey System Operon). The most important purpose of the ASSS11k is to get a lot of mud sample of challenger deep in the Mariana Trench, because a number of bacteria have been found there. Scientist wants to continuously explore the deepest parts of the oceans with a vehicle equipped with sediment samplers. ASSS11k consists of a sampling station and a sediment probe. The station contains two types of bottom samplers. One launches the probe to make a preliminary survey, launching the sampler to obtain a sample. We carried out the first sea trial using support vessel of "KAIREI" in January 2007. We tested every functions of the system and achieved sediment sampling at Sagami bay. PICASSO (2 times 0.8 times 0.8 m, 200 kg) is designed for biological and oceanographic observations in depths of up to 1,000 m. This small, light vehicle can be handled and operated by a team of only a few people. The easy-to-use vehicle does not need a dedicated support ship. The vehicle can be used either as untethered remotely operated vehicle (UROV) or autonomous underwater vehicle (AUV). In order to develop these vehicles, we used some new technologies and then developed new original devices: a small electrical-optical hybrid communication system, an HDTV optical communication system with Ethernet interface, synthetic designed pressure vessel-chassis-inner circuit boards, buoyancy material for deepest depth, a thin cable with high-tensile strength, a core sampler launcher, crawlers, compact winch motor drivers, a USBL system, a ballast controller, a friendly-user-interface program for operator, a high capacity lithium ion battery, a down sizing optical fiber spooler, and a prototype of underwater electromagnetic communication system.

AUVs for oceanographic science at IFREMER, project progress and operational feedback

Abstract: The 'coastal AUV' project at IFREMER, launched in 2002, has the aim to develop two oceanographic survey AUV as well as several payload modules and operational tools, in order to provide efficient and economically interesting tools for the French oceanographic community. The corresponding AUVs have been developed by Research Ltd - Vancouver. ISE This paper presents developments and operational feed-back in the project period 2003-2007.

Unmanned Untethered Submersible Technology

Abstract: This year's Unmanned Untethered Submersible Technology (UUST) conference was held August 20-23 at the University of New Hampshire's New England Center in Durham, New Hampshire. UUST conferences are designed to facilitate and develop autonomous underwater vehicle (AUV) ideas exchange and technology improvement by convening the global AUV development field's best and brightest. This year's conference offered some sponsor booths, at least 65 technical sessions, and numerous networking opportunities for attendees, who represented funding agencies, manufacturers, users, and developers. Critical issues discussed include: communication to and from AUVs, both topside and underwater; AUV navigation and control once they are underway; how to operate an AUV fleet in unison; and continued development of quiet propulsion systems such as vehicles that move like lobsters, turtles, or fish, as well as gliders. The next UUST is slated for August 2009.

Experiences with the Operation of a Commercially-Available Deep-Water AUV

Abstract: The demand for deepwater (>1000 m) autonomous underwater vehicles is increasing but scientific applications are restricted due to complexity and cost of development and operation. We have acquired a commercially-available deep- water AUV and are presently operating it from vessels of opportunity. Experiences gained from both the development process and field operations are discussed and generally applicable recommendations are abstracted from specific events.

Effective Benthic Surveying with Autonomous Underwater Vehicles

Abstract: The finite velocity and battery life of an AUV impose constraints on the extents of surveys and the spatial density of data recorded. Using a Gaussian process approach, we develop a method for quantifying the survey error resulting from spatial undersampling of the sample field. We also show how the Gaussian process model can be used to predict the information gain from a proposed AUV action. These techniques are demonstrated using a real world data-set collected during deployments at Ningaloo Marine Park, Western Australia.

A practical and useful autonomous towed vehicle for port area inspection

Abstract: This paper presents a novel underwater vehicle for port area inspection, which has various navigation modes (towed mode, autonomous mode and kite mode) to stand against fast and changeable sea curr...

Surveillance of Marine Resources by use of Stationary Platforms and Autonomous Underwater Vehicle (AUVS)

Abstract: In this thesis I investigate, describe and demonstrate new platform technology and its application in fisheries research. The first task was to prepare an Autonomous Underwater Vehicle (AUV) for pa ...

BP's AUV Development program, Long Term Goals - Short Term Wins

Abstract: This paper will present a commercialisation case study based on see byte's, see track offshore product. It will show how work on BP's long term A UV development program has been captured providing quick wins to solve ROV handling problems faced by BP in GoM and other parts of the world The paper starts by outlining BP's AUV program goals before describing the development and testing of see byte's see track offshore product. The paper will conclude by looking at how ROV development work is now being 'spun' back into BP's wider long term AUV program focused on future sub ice operational needs.

AUV Operations at MBARI

Abstract: MBARI's Division of Marine Operations regularly runs two Autonomous Underwater Vehicles: the Mapping AUV and the CTD AUV. Both are Dorado Class, 54 cm (21 inch) diameter. Lengths vary from about 3 m (10 feet) to 5.18 m (17 feet); air weights from about 476 kg (1050 pounds) to 635 kg (1400 pounds). The interiors of the AUVs flood when in the water; electronics are contained in either one-atmosphere hermetic housings or in pressure-compensated enclosures. Both AUVs are equipped with self-contained navigation equipment, as well as an Iridium Satellite Short Burst Data (SBD) modem. The Mapping AUV performs routine operations to 1500 meters depth; all the components are rated to 6000 meters. The Mapper has three Sonar systems onboard: a multibeam echosounder, a sub-bottom profiler, and side- scan sonar. The CTD AUV runs unattended overnight operations several times a month inside and in the vicinity of Monterey Bay, performing a time-series of measurements. It has also done a survey of the Davidson Seamount.

Development of a Hovering AUV for Underwater Explorations

Abstract: This paper describes the design and development of a hovering AUV constructed at Cheju National University and analyses the dynamic performance of the vehicle using simulation programs. The main purpose of this AUV is to carry out fundamental tests in its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general ROV appearance for underwater works and its dimensions are 0.75m*0.5m*0.5m. It has 4 thrusters of 450 watts for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an appropriate environment for developing various algorithms needed for developing and advancing Hovering AUV.

Problems of creating intelligent autonomous robotic underwater vehicles and their application

Abstract: Basic scientific and applied tasks to be accomplished by autonomous robotic underwater vehicles are considered, and distinctive features of their control system are analyzed. Some unsolved fundamental problems in this subject are formulated.

Underwater Observing Technique for Navy-civil Dual-use

Abstract: Several underwater observing technique for military and Navy-civil dual-use,such as autonomous profiling float,underwater vehicle and underwater autonomous survey platform etc developed by foreign countries in recent years is summarized.Their characteristics and key technique are analyzed,the developed status of above technique is introduced,relevant countermeasures and advices are put forward.

Deep-sea fish behavioral responses to disturbance by underwater vehicles

Abstract: Deep-sea fishes show distinct behavioral responses to manned submersibles and remotely operated vehicles (ROV's). Here we provide preliminary evidence that such disturbance responses are mediated by a variety of factors including type of vehicle and environmental and species-specific constraints.

Simple Remotely Operated Vehicles for Students and Schoolchildren

Abstract: We have developed a design template for simple, inexpensive model Remotely Operated Vehicles (ROVs) for the purpose of introducing students and schoolchildren to the field of underwater robotics. In this paper we outline our ROV design principles and report on some recent educational applications and workshops using our model ROVs.