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Showing papers on "Intervention AUV published in 2009"


Journal ArticleDOI
TL;DR: One of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment is described, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.

307 citations


Book
09 Aug 2009

150 citations


Journal ArticleDOI

112 citations


Journal ArticleDOI
TL;DR: In this article, the authors describe the design issues that specifically affect a deep-diving AUV which must be capable of operating with true autonomy, independently of the mother ship, namely: carrying adequate energy for long endurance and range, coping with varying buoyancy, and maintaining accurate navigation throughout missions lasting up to several days.

110 citations


Book ChapterDOI
01 Jan 2009

59 citations


Journal ArticleDOI
TL;DR: In this article, the authors describe cooperative control algorithms for robots and sensor nodes in an underwater environment and present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules.
Abstract: In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information such as data download and retasking; cooperative localization and tracking; and physical connection (docking) for tasks such as deployment of underwater sensor networks, collection of nodes and rescue of damaged robots. We present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules. We present the hardware and software architecture of this underwater system. We then describe various interactions between the robots and sensor nodes and between the two robots, including cooperative navigation. Finally, we describe our experiments with this underwater system and present data.

36 citations


22 Jun 2009
TL;DR: In this article, the authors describe a design and development of an AUV and its consideration are well discussed in this paper, and some of the factor affecting the AUV performance is also elaborated for future research in this area.
Abstract: —This paper describes a design and development of an Autonomous Underwater Vehicle (AUV). AUV are robotic submarines that are a part of the emerging field of autonomous and unmanned vehicles. This project shows the design implementation of an AUV as a test bed platform for a variety of research in underwater technologies especially involving small-scale, surface water and low-cost underwater robots. The general design and its consideration are well discussed in this paper. The AUV prototype has been developed by SolidWork. It will have a fixed mechanical system and body, having a modular electronic system that allows development of various controllers. The controller and motors has been tested in small scale surface water and the result is encouraging. Some of the factor affecting the AUV performance is also elaborated for future research in this area.

19 citations


Book ChapterDOI
01 Jan 2009
TL;DR: This chapter presents a road map for the vehicle designer to aid in integrating the latest navigation methods into new platforms for science, industry and military platforms, pointing to emerging needs where new research can lead directly to an expansion of the operational abilities of these powerful tools.
Abstract: Autonomous Underwater Vehicles (AUVs) are powerful tools for exploring, investigating and managing our ocean resources. As the capabilities of these platforms continue to expand and they continue to mature as operational assets, navigation remains a fundamental technological component. This chapter presents a road map for the vehicle designer to aid in integrating the latest navigation methods into new platforms for science, industry and military platforms. Along the way, we point to emerging needs where new research can lead directly to an expansion of the operational abilities of these powerful tools. To accomplish this we start by describing the problem, explaining the needs of vehicle users and the challenges of autonomous localization. Next we explain the state of practice, how operational assets currently solve this difficult problem. To expand this explanation we present new research targeted at helping AUV builders to make the complex tradeoffs in creating a platform with the appropriate navigation solution. We conclude with an overview of the latest research and how these advances might soon become available for AUV operations in new environments such as the littoral zone, at the poles and under-ice. Throughout this chapter we attempt to reach across the disciplinary boundaries that separate the researcher from the operator.

16 citations


Journal ArticleDOI
TL;DR: In this article, a design optimization process for an autonomous underwater vehicle (AUV) is developed using a multiple objective genetic optimization (MOGO) algorithm, implemented in ModelCenter (MC) from Phoenix Integration.
Abstract: A design optimization process for an autonomous underwater vehicle (AUV) is developed using a multiple objective genetic optimization (MOGO) algorithm. The optimization is implemented in ModelCenter (MC) from Phoenix Integration. It uses a genetic algorithm that searches the design space for optimal, feasible designs by considering three measures of performance (MOPs): cost, effectiveness, and risk. The synthesis model is comprised of an input module, three primary AUV synthesis modules, a constraint module and three objective modules. The effectiveness determined by the synthesis model is based on nine attributes identified in the US Navy's UUV Master Plan and four performance-based attributes calculated by the synthesis model. To solve multi-attribute decision problems the Analytical Hierarchy Process (AHP) is used. Once the MOGO has generated a final generation of optimal, feasible designs the decision-maker(s) can choose candidate designs for further analysis. A sample AUV Synthesis was performed and five candidate AUVs were analyzed.

16 citations


Proceedings ArticleDOI
11 May 2009
TL;DR: In this article, the AUV has the capability to dock, recharge, download data and upload new mission and tasks to be executed and so to be truly permanently deployed on all weather conditions.
Abstract: The development of the AUV (Autonomous Underwater Vehicle) the past years, has given a cost effective alternative solution in underwater research. These vehicles free from any tether can perform literally in any environments which make them the first choice in underwater exploration today. The main constrain is the life of their batteries. Docking stations and docking techniques are being developed nowadays to solve this problem. The AUV will have the capability to dock, recharge, download data and upload new mission and tasks to be executed and so to be truly permanently deployed on all weather conditions.

15 citations


Proceedings ArticleDOI
10 Feb 2009
TL;DR: In this paper, an AUV named URASHIMA has been used for conduction survey concerning global environmental problems, which will inevitably result in expanding deserts and rising water levels.
Abstract: There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. The plan for its development is in several steps. As the first step an AUV, named URASHIMA was built in 1999, and sea trials have been held since 2000. URASHIMA dived to 3,518m depth in 2001. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km. This paper describes outline of the vehicle, presents some experimental results.

Proceedings ArticleDOI
23 Mar 2009
TL;DR: In this article, a control method was used to guide an AUV in the task of locating and tracking underwater pipeline and cables, and experimental results of the navigation when searching for simulated pipes on the seabed in shallow waters.
Abstract: This paper details a control method, used to guide an autonomous underwater vehicle (AUV) in the task of locating and tracking underwater pipeline and cables. The article details the simulation and experimental results of the navigation when searching for simulated pipes on the seabed in shallow waters.

Proceedings ArticleDOI
01 Oct 2009
TL;DR: The Canadian AUV through-ice capture and hold system (CATCHY) developed by Memorial University for Natural Resources Canada under Project CORNERSTONE is described in this paper.
Abstract: Autonomous underwater vehicles (AUV) are poised as a leading technology for performing ocean survey and data collection. This is especially true in ice covered regions. Operations in which an AUV must be deployed through a hole in the ice presents many unique challenges that differ from ship based operations where the AUV is fully accessible via open leads. Typically, significant infrastructure is required to launch and recover a vehicle through the ice. In order to minimize cost and effort, an in-water/though-ice docking system that enables AUV capture and restraint for charging, data upload, and navigational alignment has been designed, tested and successfully deployed. The Canadian AUV through-ice capture and hold system (CATCHY) developed by Memorial University for Natural Resources Canada under Project CORNERSTONE is described in this paper. This system utilizes a robust mechanical system in conjunction with an auxiliary remotely operated vehicle (ROV) through a set of operational procedures. This system has been tested successfully, both in a controlled tank environment and through a field deployment in the Arctic. Lessons learned in this development will be utilized for future on ice AUV work.

Journal Article
TL;DR: In this paper, the design considerations of a low-cost AUV are presented in order to perform periodic surveys in the preventive maintenance of submarine structures of offshore industries, instead of Remote Operated Vehicles (ROV) or Towed Unmanned Devices (TUVs).
Abstract: The design considerations of a low-cost Autonomous Underwater Vehicle (AUV ) are presented in this article Periodic surveys are needed in the preventive maintenance of submarine structures of offshore industries The advantages of performing them with AUVs instead of Remote Operated Vehicles (ROV ) or Towed Unmanned Devices are the lower costs involved and a better data quality in the inspection missions Through EU funded projects (AUVI and Autotracker), and Spanish funded project IOGECS, the construction of a low-cost prototype for depths of 100m AUV was initiated Previous results and design considerations and proposed solutions, as well as a description of the hardware employed, the sensors in the payload, and the mission replanning, are described in this work

30 May 2009
TL;DR: The paper undertakes problem of selection a structure of control blocks for underwater vehicles with different dynamics and different configuration of driving systems.
Abstract: Using of autonomous underwater vehicles team for the execution of common underwater inspection task causes a need of particular vehicles coordination. One of the solutions is multi-agent system. Multi-agent system of underwater inspection will be composed of decision system - generating vectors of desired states for particular underwater vehicle and control blocks - converting vectors of desired states into input function vectors of particular vehicle's driving systems for the common aim execution. The paper undertakes problem of selection a structure of control blocks for underwater vehicles with different dynamics and different configuration of driving systems.


Journal Article
TL;DR: In this article, a hybrid AUV and ASV is proposed to obtain the profiles of a water column according to a pre-established water column profile profile profile, and a radio-modem provides direct communication links and telemetry.
Abstract: This work proposes the development of an ocean observation vehicle This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain the profiles of a water column according to a pre-established plan Its design provides lower production cost and higher efficiency GPS navigation allows the platform to move along the surface of the water while a radio-modem provides direct communication links and telemetry

DOI
01 Jan 2009
TL;DR: The paper is concerned with the synthesis of control system for an autonomous underwater vehicle using a coefficient diagram method, an algebraic approach applied to polynomial loop in the parameter space, where the so-called coefficient diagram is used as the means to convey the necessary design information.
Abstract: The operational demand for unmanned underwater vehicles has been growing rapidly in the recent past. For long range operations, such as oceanographic exploration and surveying, autonomous underwater vehicles (AUVs) which are equipped with on-board power and advanced control and navigation, have more promises to carry out tasks with the minimum operator intervention. Unlike other fixed platforms, autonomous underwater vehicles are particularly of interest due to their ability to provide continuous spatial and temporal observations. The safe operation of AUV relies on its autonomous navigation and control system. The paper is concerned with the synthesis of control system for an autonomous underwater vehicle using a coefficient diagram method. CDM is an algebraic approach applied to polynomial loop in the parameter space, where the so-called coefficient diagram is used as the means to convey the necessary design information and as the criteria of good design. The effectiveness of the control technique is demonstrated through a number of automatic control designs for motions in the longitudinal mode of AUV Squid, an autonomous underwater robotic designed and developed at Institut Teknologi Bandung.

Book ChapterDOI
01 Jan 2009
TL;DR: To solve inspection tasks AUV should be equipped with reliable detection systems for inspected object recognition, and usually only one instrument, which AUV is equipped with, is used for object detection.
Abstract: Regular inspection of underwater communications (pipelines and cables) is actual problem of modern oil and gas industry. Specially equipped vessels, towed underwater devices and remote operated vehicles /ROV/ are applied for these purposes as usually, but quality of acquired data does not always allow revealing emergencies at the proper time. “Spot” inspections by ROVs give difficultly comparable data (Baker, 1991; Murray, 1991). The perspective solution of the problem is autonomous underwater vehicles /AUV/ application as “the intellectual carrier” of research equipment (Evans et al., 2003; Kojima et al., 1997). According (Ageev, 2005) the main goals of pipeline and cables inspection are: 1. more accurate position determination (searching and tracking); 2. pipe sagging and freespan detection and measurement; 3. terrain survey on each side of communication by means of high frequency side scan sonar /HF SSS/ and detection of extraneous objects; 4. detection of damages; 5. leakage detection of transported substances (for pipelines). The pipeline and cable inspection by means of AUV includes two stages: preliminary (communication search and detection) and the main (motion along the communication with carrying out of necessary measurements, i.e. tracking). Exact mutual orientation of AUV and inspected object is required in real time during the tracking stage. To solve inspection tasks AUV should be equipped with reliable detection systems for inspected object recognition. Video, electromagnetic and echo-sounder data can be used for these purposes. Each of these devices demonstrates optimal results for certain classes of objects in appropriate conditions. For example, metal pipelines have the significant sizes and can be detected by all listed above devices. While underwater cables have a small diameter, because of this applicability of acoustic methods is limited (Petillot et al., 2002). Process of communications search and detection is complicated, as a rule, with a poor visibility of the given objects (strewed with a ground, silted or covered by underwater flora and fauna). Experiments with the use of AUV for inspection of underwater communications have been carried out for a long time. Usually only one instrument, which AUV is equipped with, is used for object detection. O pe n A cc es s D at ab as e w w w .in te ch w eb .o rg


Journal ArticleDOI
TL;DR: In this paper, the authors developed a power control system with a three-step algorithm to automatically detect underwater operational states and can limit power, effectively decreasing power consumption by about 15%.
Abstract: Valuable mineral resources are widely distributed throughout the seabed. autonomous underwater vehicles (AUVs) are preferable to remotely-operated vehicles (ROVs) when probing for such mineral resources as the extensive exploration area makes it difficult to maintain contact with operators. AUVs depend on batteries, so their power consumption should be reduced to extend exploration time. Power for conventional marine instrument systems is incorporated in their waterproof sealing. External intermittent control of this power source until termination of exploration is challenging due to limitations imposed by the underwater environment. Thus, the AUV must have a power control system that can improve performance and maximize use of battery capacity. The authors developed such a power control system with a three-step algorithm. It automatically detects underwater operational states and can limit power, effectively decreasing power consumption by about 15%.

Proceedings ArticleDOI
Baoju Wu1, Shuo Li1, Junbao Zeng1, Yiping Li1, Xiaohui Wang1 
01 Oct 2009
TL;DR: ARV as mentioned in this paper is a hybrid ROV/AUV that can cruise at a range of 3km at the speed of 3kn, in a depth shallower than 500 meters.
Abstract: ARV is a new concept unmanned underwater vehicle (UUV) which has both the characteristics of autonomous underwater vehicle (AUV) and that of remote operated underwater vehicle (ROV). It is a hybrid ROV/AUV. ARV can cruise at a range of 3km at the speed of 3kn, in a depth shallower than 500 meters. At the attractive point the vehicle can be operated as a ROV with the ability of dynamic positioning. The vehicle has a Fiber Optic Micro Cable (FOMC) system with the length of 5km for transferring image and other payload sensors' data in real time. The payload segment is a reconfigurable module that can be changed according to different scientific related missions. ARV was used in China's third Arctic expedition in 2008.

Proceedings Article
01 Jan 2009
TL;DR: A general description of the V QN model is presented, and experimental results about the network functionality enhancement are included to show VQN feasibility.
Abstract: A novel communication platform is introduced to enable the collaboration of a set of Autonomous Underwater Vehicles (AUV s). The proposal is based on what we call the Virtual Quality-of-service Network (VQN) model, and the idea is to use it in order to provide the required network functionality and the semantic features that are needed for the collaboration. VQN is a semantic overlay network implemented as a distributed application by means of an object oriented middleware for distributed systems. Single-hop is the first option, but in case that no feasible single-hop route exists, a multi-hop route with the required QoS characteristics is attempted. Fuzzy Logic techniques are used to provide robustness in presence of imprecision in the measurement of network parameters. In this paper, a general description of the VQN model is presented, and experimental results about the network functionality enhancement are included to show VQN feasibility.

Book ChapterDOI
01 Jan 2009
TL;DR: In this article, an AUV is used to remove the parasite effects of the umbilical cable, which greatly inhibits the speed of the ROV, requiring the mother ship equipped with deck gear capable of winding up this cable and significantly restricting ship movement while deployed.
Abstract: Oceans cover 71% of the earth's surface and contribute the largest reservoir of life on the earth. With more and more concern about the abounding and valuable ocean resources, these years have witnessed a remarkable growth in the wide range of underwater commercial activities for ocean survey, especially focusing on undersea exploration and exploitation, and even extensively for salvage operations related with disastrous accidents occurred undersea (Lapierre, 2006). There are three main kinds of vehicles recruited for underwater activities. Manned Submersibles and Manned Underwater Vehicles with good abilities of directly manoeuvring and in-situ observation, have been widely utilized in commercial activity and scientific research, and reached the zenith in the late 1960s and early 1970s. However, this critical systems with vital importance of crew aboard and complex handling system significantly cost so much. Then, Remotely Operated Vehicles (ROVs) still with human in the loop but not in the vehicle are successful substitutes, being low-cost vehicles piloting in deep water greater than 1000ft. Today, ROV becomes a well-established technology frequently used in the offshore industry, most notably in the commercial offshore oil and gas, nuclear, pipeline and cable industries. Nevertheless, the long umbilical cable, linked with the mother ship, greatly inhibits the speed of the ROV, requiring the mother ship equipped with deck gear capable of winding up this cable and significantly restricting ship movement while deployed. More recently, with the development of advanced underwater technology, Autonomous Underwater Vehicles (AUVs) are steadily becoming the next significative step in ocean exploration due to their freedom from the constraints of an umbilical cable. Nowadays there has been gradually growth in the AUV industry worldwide which would be on an unprecedented scale and AUVs will carry out interventions in undersea structures in the future (Whitcomb, 2000). Moreover, recent applications using Intervention Autonomous Underwater Vehicles (IAUVs), have demonstrated the feasibility of autonomous underwater manipulations (Xu et al., 2007), controlled via acoustic links, thus removing the parasite effects of the umbilical cable (http://www.freesubnet.eu). With

13 Nov 2009
TL;DR: This paper proposes an autonomous navigation and control system for AUVs based on reinforcement learning scheme that produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path.
Abstract: An autonomous underwater vehicle(AUV) is developed to explore and patrol in underwater environments. To accomplish these objectives, an autonomous navigation and control system is essential to an AUV. An intelligent navigation system produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path. In this paper, we propose an autonomous navigation and control system for AUVs based on reinforcement learning scheme.

Proceedings ArticleDOI
01 Oct 2009
TL;DR: The National Institute for Undersea Science and Technology (NIUST) owns and operates two AUVs, an International Submarine Engineering built Explorer class AUV and a Woods Hole Oceanographie Institution built Seabed AUV.
Abstract: The National Institute for Undersea Science and Technology (NIUST) owns and operates two Autonomous Underwater Vehicles, an International Submarine Engineering built Explorer class AUV and a Woods Hole Oceanographie Institution built Seabed AUV These two AUVs have completely different operational requirements and tasks based on their physical layout and propulsion. The torpedo-shaped explorer class AUV is used for multibeam mapping and carrying third-party or experimental instrument payloads. The Seabed AUV, propelled by three independent thrusters, is used for close-up sub-sea photographic and multi-beam site investigation which takes advantage of its slow speed and maneuverability. The high resolution digital photography can be used to construct spatial photomosaicis of the target area. Both vehicles will be introduced during this talk, highlighting their operational parameters and presenting some of the data collected with each results from previous deployments of the systems.

Proceedings ArticleDOI
18 Sep 2009
TL;DR: In this article, a guiding system for docking based on the philosophy of visual dynamic positioning to line was proposed, and a scheme for the guiding system's fundamental structure and guiding and control approach were defined attaching priority to the overall reliability.
Abstract: IAUV (Intervention Autonomous Underwater Vehicle) is a main direction for AUV's future development. An important feature for IAUV is the capability of autonomous underwater docking. On this other hand, underwater vision in IAUV is gaining increasing attention nowadays. To achieve a high reliable, optimized docking system, a guiding system for docking based on the philosophy of visual dynamic positioning to line was put forward. Approaches of visual ranging and heading measurement were studied and their resolutions were analyzed. Based on this, a scheme for the guiding system's fundamental structure and guiding & control approach were defined attaching priority to the overall reliability. The fundamental hardware selection principles and results were also enclosed. This design course set a ground for further realization of a reliable correct docking system and could act as a reference for other underwater visual system design.

Proceedings ArticleDOI
20 Nov 2009
TL;DR: The design and construction of a low cost Autonomous Underwater Vehicle (AUV) prototype that can work as launch platform of a small UAV.
Abstract: This paper describes the design and construction of a low cost Autonomous Underwater Vehicle (AUV) prototype that can work as launch platform of a small UAV. The AUV can travel in a determined path to reach the launch AUV point. The AUV length is less than 2 m. The max operation depth is 20 m. It is composed of eight modules: propulsion, power, motor driver, CPU, sensor suite, camera system, communication module and UAV launcher. The launch of the UAV is executed on the sea surface.

Journal ArticleDOI
TL;DR: The software architecture and the Mission Control System used in ICTINEUAUV, a small autonomous vehicle able to perform dam inspections tasks using ROVs, are presented.

Proceedings ArticleDOI
11 May 2009
TL;DR: Marport Deep Sea Technology as mentioned in this paper introduced a next-generation sonar system based on their advanced Software Defined Sonar (SDS) signal processing system, and investigated existing Autonomous Underwater Vehicle (AUV) technology, and identified a opportunity to develop an innovative new vehicle; the SQX-1 AUV.
Abstract: As a leading provider of high-performance underwater acoustic technology, Marport Deep Sea Technology is introducing to market next-generation sonar systems based on their advanced Software Defined Sonar (SDS) signal processing system. Seeking a demonstration platform for these new systems, Marport investigated existing Autonomous Underwater Vehicle (AUV) technology, and identified a opportunity to develop an innovative new vehicle; the SQX-1 AUV.