Showing papers on "Intervention AUV published in 2013"

Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention

Abstract: A new underwater robot arm was developed through intensive cooperation between different academic institutions and an industrial company. The manipulator, which was initially designed to be teleoperated, was adapted for our autonomy needs. Its dimensions and weight were reduced, and its kinematic model was developed so that autonomous control can be performed with it. We compare several commercially available underwater manipulators and describe the development of the new one, from its initial configuration to its mechanical adaptation, modeling, control, and final assembly on an autonomous underwater vehicle (AUV). The feasibility and reliability of this arm is demonstrated in water tank conditions, where various innovative autonomous object-recovery operations are successfully performed, both in stand-alone operation and integrated in an AUV prototype.

TRIDENT An European project targeted to increase the autonomy levels for underwater intervention missions

Abstract: TRIDENT is the official acronym used for a funded European project entitled: “Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions”. This project has demonstrated a new approach for multipurpose underwater intervention tasks with diverse potential applications ranging from underwater archaeology and oceanography to the offshore industries. The methods and technologies defined and tested under TRIDENT go beyond present-day methods typically based on manned or purpose-built systems. The project was launched on 1st of March 2010 and has been running for a total of 36 months, achieving the “excellent” grade in its final review process by the European Commission (May 2013, UJI, Spain). In this paper the last achievements will be discussed, highlighting the main research efforts continuously supported by the consortium till reach its final objectives. In summary, TRIDENT represents a new benchmark for the scientific community, solving the underwater “search & recovery” problem, in shallow water conditions, with the highest level of autonomy ever seen before.

Joint ASV/AUV range-based formation control: Theory and experimental results

Abstract: The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles.

Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research

Abstract: Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey issions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.

Underwater pipeline and cable inspection using autonomous underwater vehicles

Abstract: To ensure their continuing integrity, the state of pipelines and cables needs to be monitored regularly. Divers, towfish ore remotely operated underwater vehicles (ROVs), which are traditionally used for cable & pipeline inspection, are time and human resources intensive. On the other hand, autonomous underwater vehicles (AUVs) represent a tool with great benefits. Therefore, a reliable localization and robust tracking system is required and it is the focus of this paper. The developed system will be tested for its performance in different pipeline layout scenarios.

Marine seismic survey and method using autonomous underwater vehicles and underwater bases

Abstract: A seismic survey system records seismic signals during a marine seismic survey. The system includes at least two underwater bases and plural autonomous underwater vehicles (AUVs) that carry appropriate seismic sensors. An AUV is housed by an underwater base and it is launched to a final destination from the underwater base. The AUV receives pinger signals from at least two underwater bases for correcting its trajectory toward the final destination.

Scientific operations combining ROV and AUV in the Trondheim Fjord

Abstract: This paper will show how AUV and ROV can complement each other in a scientific mapping campaign in the Trondheim Fjord. To complete this survey, a multidisciplinary approach was necessary to adapt the industrial and military technology to identify and map object of interest (OOI) on the seafloor. NTNU AUR-Lab and FFI mobilized for a collaborative cruise with ROV Minerva equipped with: video camera, dynamic positioning system, still camera for photo mosaic, UHI (Underwater Hyper spectral Imager), MRU and MBE and the AUV Hugin HUS with synthetic aperture side scan sonar and still camera as main instruments. These platforms complemented each other; the AUV had an unprecedented area capacity for mapping and search, while the ROV provided detailed information of the site.

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Abstract: In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

Novel method for underwater navigation aiding using a companion underwater robot as a guiding platforms

Abstract: This paper presents the results of multi-national collaboration during the sea trial held in the coastal waters of La Spezia, Italy, in the period 17 Oct. - 07 Nov. 2012. The trial was performed as one of the objectives of the program which has a goal to achieve the entire chain of Mine Countermeasures (MCM) using unmanned, robotic platforms. The focus of activities in this sea trial was to perform the last events of the mission: reacquisition, identification and intervention using a pair of collaborating underwater vehicles. The trial's objectives were to combine the expertise and robotic systems from different partners and achieve a mission of precise guiding of an inexpensive underwater vehicle to an underwater target using the navigation suite and control system of a more capable underwater vehicle. The objectives were accomplished and the researchers' opinion is that the extension to multi-vehicle cooperation (one leader guiding several agents, or followers) is feasible given the test results.

Tools and techniques for underwater archaeological sites documentation

Abstract: The amount of data required for a virtual reconstruction of an underwater archaeological site requires automatic systems for collecting data, based on the use of robots and unmanned underwater vehicles, which can work for a long time, in a hostile environment, without risk to human operators and with acceptable costs. However, such systems have often to be driven by expert pilots, adding costs to the usual Data gathering campaigns. This paper shows solutions found through subsequent campaigns, thanks to the expertise of a multidisciplinary team and in collaboration with several research institutions. In particular, this work presents the added value of technology within the data collection process from underwater archaeological sites, describing an assisted guidance system for a MicroROV developed in order to help unskilled pilot. Results of 3D reconstructions from images taken during real field mission with the above technology are described.

Development of P-SURO II hybrid AUV and its experimental study

Abstract: P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cable. To complete the underwater missions such as inspection and maintenance of complex structures in AUV mode, the vehicle is required to have high level of autonomy including obstacle avoidance, autonomous navigation, and so on. In this paper, we will discuss some of systematic and algorithmic issues in the development of such kind hybrid vehicles. Experimental studies on the development of underwater hybrid inertial navigation system and SLAM (simultaneous localization and mapping) method in a certain water tank environment are also discussed.

Sound Silencing Problem of Underwater Vehicles

Abstract: This paper describes some common problems associated with negative influence of UUV self noise on detection aspect in water environment. Some tasks of military applications require silent behavior of UUVs: Intelligence, Surveillance, and Reconnaissance (ISR), Rapid Environmental Assessment (REA), Mine Countermeasure (MCM) etc. Moreover, this paper review methods of underwater sound measurement and on the end as a summary presents results of an experiment from the water tank trials where were investigated three UUVs: one ROV and two biomimetic autonomous underwater vehicle.

Modular AUV system for Sea Water Quality Monitoring and Management

Abstract: The sustained and cost-effective monitoring of the water quality within European coastal areas is of growing importance in view of the upcoming European marine and maritime directives, i.e. the increased industrial use of the marine environment. Such monitoring needs mechanisms/systems to detect the water quality in a large sea area at different depths in real time. This paper presents a system for the automated detection and analysis of water quality parameters using an autonomous underwater vehicle. The analysis of discharge of nitrate into Norwegian fjords near aqua farms is one of the main application fields of this AUV system. As carrier platform the AUV “CWolf” from the Fraunhofer IOSB-AST will be used, which is perfectly suited through its modular payload concept. The mission task and the integration of the payload unit which includes the sensor module, the scientific and measurement computer in the AUV carrier platform will be described. Few practice oriented information about the software and interface concept, the function of the several software modules and the test platform with the several test levels to test every module will be discussed.

Modular building blocks for the development of AUVs — from MARES to TriMARES

Abstract: The design of an Autonomous Underwater Vehicle (AUV) is governed by a complex tradeoff between mission performance and required payload sensors, and taking into account possible constraints in fabrication, assembly and operational logistics. On a commercial level, the technology is relatively mature, with several companies offering off-the-shelf AUV solutions in a wide range of sizes and performance levels, for a wide variety of operational scenarios. However, to ensure proper performance in specific applications, such broad-range systems require factory customization, with the consequent impact in time and cost. This paper describes a program for the development of underwater vehicles based on modular building blocks. In this case, modularity encompasses both physical parts and also software and control systems. These modules can be rearranged, replaced or individually redesigned to yield a great variety of AUV configurations in a relatively short time. The paper describes the development of MARES, a small hovering AUV, and also TriMARES, a custom 3-body hybrid AUV/ROV, built from the same modules in little over 6 months.

An autonomous underwater vehicle with a canard rudder for underwater minerals exploration

Abstract: Exploration and mining of natural resources in the region of seabed are needed for lasting economic growth, because an abundance of natural resources, including rare metal, is in Japan's exclusive economic zone (EEZ). The cost down of exploration and mining is an important issue for industrialization. It is well known that unmanned and/or autonomous platforms for exploration are effective to reduce operation cost. JAMSTEC has developed a cruising type autonomous underwater vehicle (AUV) to perform exploration in hydrothermal activity areas up to depth of 3,000 meters since 2011. This specified purpose AUV (5 m long, 2.7 tons in weight) has capability of high maneuverability for eliciting high performance of sonars and is equipped with three sonars: a synthetic aperture sonar (SAS), an interferometry sonar (IFS) and a sub-bottom profiler (SBP). The cruising AUV, named Yumeiruka, is thus has a canard rudder to maintain a fixed posture in horizontal and vertical plane. In March 2013 the 15-days sea trial of the vehicle was carried out in the Sagami Bay and we achieved constant pitch control by using the canard rudder during an altitude change.

Some algorithms of cooperative AUV navigation with mobile surface beacon

Abstract: The problem of autonomous underwater vehicle group navigation based on use of single mobile hydroacoustic beacon is discussed in this paper. Mobile beacon is transported by autonomous surface vehicle. Some algorithms are considered and operation of the proposed approach is simulated for the case of three working together autonomous underwater vehicles and one autonomous surface vehicle.

Unmanned recovery of an AUV from a surface platform manuscript, oceans '13 MTS/IEEE San Diego

Abstract: Autonomous Underwater Vehicles (AUVs) are commonly used for a variety of applications, which require launch and recovery (L&R) of the vehicle from a surface craft. Here we describe work in support of an automated recovery of an AUV from an unmanned surface vehicle (USV), whereby longer endurance / range may be achieved for such applications as underwater surveys of remote sites. This may be one of many possible complex scenarios that involve multiple unmanned autonomous vehicles of various types working together autonomously to complete a multitude of tasks, maximizing their combined performance. The AUV used in this project is the Hydroid REMUS 100. The USV, which will serve as the moving surface platform that recovers the AUV, is a 14 foot Wave Adaptive Modular Vessel (WAM-V). In order to implement this type of system, various L&R methods need to be studied and analysed. This will help define a precise working environment, in which the system will be effective. Conceptual designs of two different recovery systems have been considered. For each design, an operating environment is defined, based on the characteristics of the model. Merits of each approach are being evaluated. To do so, “simple proof of concept prototypes” are built to test the feasibility and the effectiveness of each design. Here we describe one of the methods being considered. The main areas of focus of this project are device reliability, repeatability, robustness and precision. The desired outcome of this project is to provide a clear understanding of the ideal recovery method. The results of these studies will facilitate implementation of an effective automated recovery system, aiming to achieve a high degree of autonomy.

Method and system for subsea leak detection using autonomous underwater vehicle (auv)

Abstract: Method and system is described for enhanced subsea leak detection by using autonomous underwater vehicle (AUV) that is equipment with measurement components and navigation components. The method and system may include a one or more wireless communication components for navigation. Also, the method and system may include one or more sensors to detect leakage from a pipeline.

Low cost underwater gliders for littoral marine research

Abstract: Current off-the-shelf underwater gliders (UGs) are large, heavy, expensive, and difficult to modify, both in hardware and software, which limits their use for multivehicle coordination experiments and deployment in high risk environments. To address these challenges, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) at Michigan Tech has designed two types of UGs for concept development, testing, and problem solving, and additionally, for scaffolding advanced interest and education in engineering. The first, a Glider for Underwater Presentation and Promoting Interest in Engineering (GUPPIE), nationally targets high school students and undergraduates to provide these students a UG platform for hands-on experience in concept development, testing, and problem solving. The second platform is a Glider for Autonomous Littoral Underwater Research (GALUR). At 10% of the cost of current models, the GALUR was designed to serve as a low cost multivehicle control testbed for disparate research groups who need to test and validate control algorithms. Still a highly-maneuverable UG, the GALUR allows researchers to address underwater communication issues by implementing control strategies for individual and multiple vehicle underwater data collection and mapping. Through the process of developing and testing these two UGs, the research team is ultimately working toward their long term goal of developing a fleet of low cost highly maneuverable underwater gliders. This paper details the challenges and milestones of the development process, and outlines the future research trajectory and goals.

Development of hovering-type AUV “cyclops” for precision observation

Abstract: This paper presents a novel hovering-type AUV(Autonomous Underwater Vehicle) system for precision observation. The vehicle design focused on precise localization and maneuverability to acquire precise visual data. The concept of the proposed vehicle hardware/software system is described in detail. To maximize the system's flexibility, the thrusters' layout can easily be adjusted for optimal performance. Experiments were carried out to verify the positioning accuracy because high-accuracy positioning is required to enable AUVs to acquire precise data and excellent maneuvering performance.

Hovering type AUV “Tuna-Sand” and its surveys on Smith caldera in Izu-Ogasawara ocean area

Abstract: During the operation of and AUV in the ocean, it is necessary to monitor the vehicles position and the status in real time to prevent accidents that may occur abrupt changes in oceanic condition. Therefore a support ship should follow and monitor the AUV during survey. The ship operation costs are high and it is inefficient use if only one AUV dives during a survey. We developed a new survey method for multiple AUVs to make effective use of ship time. In our survey method, two cruising AUVs (AE2000a and AE2000f) pass through approximately the same route and observe the seafloor at a high altitude. One hovering type AUV (Tuna-Sand) navigates and takes pictures of seafloor at a low altitude. The ship follows the two cruising AUVs and sends the command by acoustic communication as necessary. Then an SSBL device on a moored buoy localizes Tuna-Sand and sends vehicle's position and status to the ship by satellite communications. To avoid sound wave interference, sufficient time gap is added between signal transmissions and the GPS time is used for synchronization. The Tuna-Sand AUV observed on Smith caldera in Izu-Ogasawara ocean area in two dives using our survey method. In first dive, the vehicle surveyed for about 2 hours and took 170 pictures of the seafloor. In second dive, we succeeded that AE2000a, AE2000f and Tuna-Sand dived and surveyed on the caldera at same time. The results obtained during the survey are described in detail in this paper.

AUV and ASV in twinned navigation for long term multipurpose survey applications

Abstract: The coordination between a fleet of ocean automatic vehicles is an interesting area of research. The communication between an Autonomous Underwater Vehicle AUV and in-shore stations is a difficult question. Satellite communications are expensive; they provides only a limited bandwidth and the link is not always guaranteed when it is needed. High speed communications are difficult from underwater vehicles since their antennas are affected by the sea surface conditions when they are on the surface, especially when rough sea conditions are present. Using a Surface Autonomous Vehicle (SAV) in the proximity of the AUV as a coordination station between a Command Center (CC) in shore and the AUV fleet will be an advantage for reaching a good guaranteed link between shore and the individual vehicles. The constraint of avoiding costly satellite communications on AUVs leads to the consideration of using commercial inexpensive communication systems based on UMTS and WIFI protocols, together with inexpensive acoustic underwater devices for range and bearing control and basic communications. In order to be useful for the mission the previously mentioned surface vehicle faces the challenge of operating in a wide range of weather conditions. In this paper a solution is proposed by considering a dual system composed by a SAV and a fleet of AUV in tandem navigation strategy. In order to avoid vehicle damage, malfunction or lose of communication between shore and AUVs, robust and fault tolerant dual system propulsion and a multiple communication platform ASV is proposed.

Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots

Abstract: The increasing urgency to study the world's native water bodies regarding environmental monitoring leads to a worldwide growing interest in the development of Autonomous Underwater Vehicles (AUVs). The robots are equipped with several sensors, e.g. cameras, environmental tracking systems and acoustic modules which provide an inexpensive alternative to manual investigations. To increase mission time and decrease sensitivity against faults, a swarm of such underwater robots can afford many benefits. Hence this paper presents the development of the miniature AUV MONSUN II, which acts in a networked swarm to reach an energy-efficient behaviour with simultaneous consideration of fault-tolerance. Therefore, the robots use their communication network to propagate internal states and build underwater formations according to current mission tasks.

Smart-E An Autonomous Omnidirectional Underwater Robot

Abstract: Abstract The survey of waterbodies or underwater installations is a challenging task. To reduce the danger for divers, Autonomous Underwater Vehicles (AUVs) can be deployed. These requires a high manoeuvrability and agility in order to provide access in hard-to-reach areas. Smart-E is an omnidirectional AUV designed and developed at the Institute of Computer Engineering of the University of Luebeck. The drive is realized by the minimal configuration of three thrusters that are arranged at 120º to each other. To achieve omnidirectional movement in the 3D space, each motor pivots through 180º around its radial axis with the aid of a servo motor. This leads to a manoeuvrability of six degrees of freedom (DOF). Smart-E is equipped with various sensors like a pressure and temperature sensor, a 360º scanning sonar, an IMU-AHRS system and a tilt camera unit at the bottom. Besides the autonomous behaviors, the main challenge is to control all six DOF of the AUV to achieve a smooth and controllable omnidirectional underwater movement even in rough environments.

Planning inspection tasks for AUVs

Abstract: Underwater installations require regular inspection and maintenance. In the EU FP7 project 288273, PANDORA, we seek to perform these tasks using autonomous underwater vehicles, achieving persistent autonomous behaviour in order to avoid the need for frequent human intervention. In this paper we consider one aspect of this problem, which is the construction of a suitable plan for a single inspection tour. Although we assume that some knowledge of the environment is given (a blueprint of the expected structures), we consider the problems of adapting to discoveries of modified structures (which could be a consequence of unrecorded engineering work or of shifting environmental conditions) and both planning and replanning suitable inspection missions. We demonstrate that these missions can be performed in a simulation and that performance is suitable for deployment in the proposed setting.

A Soft Unmanned Underwater Vehicle with augmented thrust capability

Abstract: The components which could make Soft Unmanned Underwater Vehicles a winning technology for a range of marine operations are addressed: these include vortex-enhanced thrust, added mass recovery and high degree of compliance of the vehicle. Based on these design criteria and recent advancement in soft-bodied, pulsed-jet thrusters, a new underwater vehicle is developed and tested.

Customizing an Autonomous Underwater Vehicle and developing a launch and recovery system

Abstract: In October 2012, International Submarine Engineering Ltd. (ISE) delivered an Explorer Autonomous Underwater Vehicle (AUV) to Fukada Salvage and Marine Works Co. Ltd. of Japan for marine salvage and ocean resource exploration. This vehicle is based on the standard 3000 m depth rated Explorer AUV design and was customized to meet the customer's needs. The Fukada Salvage Explorer AUV (named “Deep 1”) is equipped with a multibeam echosounder, sidescan sonar, sub-bottom profiler, Doppler Velocity Log/Acoustic Doppler Current Profiler (DVL/ADCP), sound velocity sensor, and Conductivity Temperature Depth (CTD) sensor. This vehicle is very similar to the two deep AUVs which ISE is currently building for the Japan Coast Guard. For ocean mining exploration operations, the Deep 1 vehicle will be outfitted with a 3-axis flux-gate magnetometer, nephelometer, pH sensor, and self-potential sensor. The modularity of the Explorer AUV will allow these sensors to be easily integrated without changing the basic design of the vehicle. Several items were custom-designed for the Fukada Salvage Explorer AUV: an obstacle avoidance system, a ramp style Launch and Recovery System (LARS), and a belly pack remote control for use with the LARS. The forward looking obstacle avoidance system was developed as a lightweight and low cost alternative to commercially available obstacle avoidance systems. This system utilizes three Imagenex singlebeam echosounders and ISE-developed control algorithms to allow the Explorer to avoid obstacles in front of the vehicle. ISE and Hawboldt Industries Ltd. of Chester, NS, developed a ramp LARS, which allows the vehicle to be launched and recovered without use of a ship's crane in up to sea state 4. The LARS greatly reduces the number of personnel required for launch and recovery operations, and is safer for personnel and the vehicle. A belly pack was developed, which allows the operator to control the vehicle while on deck. In this paper, we discuss the features of the Explorer AUV and the integration of the sensors for the Fukada Salvage Explorer AUV. We also discuss the development of the Obstacle Avoidance System and Launch and Recovery System.

P-suro ii 하이브리드 자율무인잠수정 기술 개발 및 현장 검증

Abstract: In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.