Showing papers on "Intervention AUV published in 2014"

Hybrid Unmanned Aerial Underwater Vehicle: Modeling and simulation

Abstract: The complete modeling and simulation of an unmanned vehicle with combined aerial and underwater ca- pabilities, called Hybrid Unmanned Aerial Underwater Vehicle (HUAUV), is presented in this paper. The best architecture for this kind of vehicle was evaluated based on the adaptation of typical platforms for aerial and underwater vehicles, to allow the navigation in both environments. The model selected was based on a quadrotor-like aerial platform, adapted to dive and move underwater. Kinematic and dynamic models are presented here, and the parameters for a small dimension prototype was estimated and simulated. Finally, controllers were used and validated in realistic simulation, including air and water navigation, and the environment transition problem. To the best of our knowledge, it is the first vehicle that is able to navigate in both environment without mechanical adaptation during the medium transitions. I. INTRODUCTION Nowadays, unmanned autonomous vehicles have been the focus of many development efforts, with a large range of applications. The amount of resources applied has improved their capabilities, especially in the military field. Remotely operated or autonomous Unmanned Aerial Vehicles (UAVs), for example, were used in recent military operations around the world (1). But they were also used in non-military activities, like agriculture (2) and surveillance (3). Another important robotic platform are the Unmanned Underwater Vehicles (UUVs), whose the most known are the Remotely Operated Vehicles (ROVs). This kind of vehicles can also be applied in several commercial field operations (4), e.g. oil and gas extraction in ultra deep waters (5). Both kind of vehicles are well adapted to work in their own environment (air and water, respectively), but some situations may require a single vehicle capable of working in both environment. Such requirement commonly appears when is necessary to perform maintenance on partially or fully submersing structures, as ship hull or risers. A typical approach includes using auxiliary vessels to transport ROVs that will make the inspection of offshore target regions. This problem is harder in partially submersed structures. In such situations, where the usage of auxiliary ships is difficult and expensive, underwater robots equipped with wheels or tracks are recommended.

AUV mission control via temporal planning

Abstract: Underwater installations require regular inspection and maintenance. We are exploring the idea of performing these tasks using an autonomous underwater vehicle, 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. In particular we generate a temporal plan that optimises the time taken to complete the inspection mission. We report on physical trials with the system at the Diver and ROV driver Training Center in Fort William, Scotland, discussing some of the lessons learned.

Unmanned aerial vehicle as communication relay for autonomous underwater vehicle — Field tests

Abstract: This paper describes field experiments with an X8 Unmanned Aerial Vehicle (UAV) operating as a wireless communication relay while loitering over a REMUS 100 Autonomous Underwater Vehicle (AUV) being at the ocean surface. The paper describes the design of the communication relay payload, network configuration, optimal flight conditions and UAV antenna mounting, and experimental results. Experiments were conducted under less than ideal conditions with rain and turbulent winds leading to unfavorable roll and pitch motions of the UAV, and small waves surrounding the AUV. The results with data download from the AUV through the UAV communication relay to a ground station shows that at the tested (typical) flight conditions the distance and attitude between the AUV and UAV are not the bottlenecks in the communication network. The main bottleneck was identified as the capacity of the proprietary wireless system on the REMUS 100 AUV which was not specified as a high capacity data link, and seems to be set up by the AUV system manufacturer to provide a relatively low capacity, but very robust, wireless data link regardless of signal strength and quality.

I-AUV docking and intervention in a subsea panel

Abstract: While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance of permanent underwater structures as well as the recovery of benthic stations or black-boxes are a few of them. These tasks are addressed nowadays using manned submersibles or work-class remotely operated vehicles (ROVs), equipped with teleoperated arms under human supervision. In the context of the TRITON Spanish funded project, a subsea panel docking and an intervention procedure are proposed. The light-weight intervention AUV (I-AUV) Girona 500 is used to autonomously dock into a subsea panel using a funnel-based docking method for passive accommodation. Once docked, an autonomous fixed-based manipulation system, which uses feedback from a digital camera, is used to turn a valve and plug/unplug a connector. The paper presents the techniques used for the autonomous docking and manipulation as well as how the adapted subsea panel has been designed to facilitate such operations.

Coordinating UAVs and AUVs for Oceanographic Field Experiments: Challenges and Lessons Learned

Abstract: Obtaining synoptic observations of dynamic ocean phenomena such as fronts, eddies, oxygen minimum zones and blooms has been challenging primarily due to the large spatial scales involved. Traditional methods of observation with manned ships are expensive and, unless the vessel can survey at high-speed, unrealistic. Autonomous underwater vehicles (AUVs) are robotic platforms that have been making steady gains in sampling capabilities and impacting oceanographic observations especially in coastal areas. However, their reach is still limited by operating constraints related to their energy sources. Unmanned aerial vehicles (UAVs) recently introduced in coastal and polar oceanographic experiments have added to the mix in observation strategy and methods. They offer a tantalizing opportunity to bridge such scales in operational oceanography by coordinating with AUVs in the water-column to get in-situ measurements. In this paper, we articulate the principal challenges in operating UAVs with AUVs making synoptic observations for such targeted watercolumn sampling. We do so in the context of autonomous control and operation for networked robotics and describe novel experiments while articulating the key challenges and lessons learned.

Scientific Operations Combining ROV and AUV in the Trondheim Fjord

Abstract: This paper describes an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV) complementing each other on a scientific cruise in the Trondheim Fjord (Norway). The Norwegian University of Science and Technology Applied Underwater Robotics-Laboratory and the Norwegian Defense Research Establishment mobilized for a collaborative cruise with an ROV equipped with video camera, dynamic positioning system, still camera for photographic mosaic, underwater hyperspectral imager (UHI) and inertial measurement unit, and the AUV Hugin HUS with synthetic aperture sonar (SAS) and still camera as main instruments. A multidisciplinary approach was used to set up the operations for using ROV, AUV, SAS, and UHI to document archaeological and biological sites. The cruise was run as an integrated operation processing data online and using collected data actively in the cruise planning and replanning. The AUV presented unparalleled area coverage capacity for mapping and search, while the ROV provided detailed information from the sites. During the cruise, approximately 20 km2 were mapped with high-resolution sensors, and the data were ground-truthed using the ROV. These data provided new information and insight of both biological and archaeological sites.

Exploiting Adaptive and Collaborative AUV Autonomy for Detection and Characterization of Internal Waves

Abstract: Advances in the fields of autonomy software and environmental sampling techniques for autonomous underwater vehicles (AUVs) have recently allowed for the merging of oceanographic data collection with the testing of emerging marine technology. The Massachusetts Institute of Technology (MIT) Laboratory for Autonomous Marine Sensing Systems (LAMSS) group conducted an Internal Wave Detection Experiment in August 2010 with these advances in mind. The goal was to have multiple AUVs collaborate autonomously through onboard autonomy software and real-time underwater acoustic communication to monitor for the presence of internal waves by adapting to changes in the environment (specifically the temperature variations near the thermocline/pycnocline depth). The experimental setup, implementation, data, deployment results, and internal wave detection and quantification results are presented in this paper.

Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys

Abstract: An underwater base handles an autonomous underwater vehicle. The underwater base includes a storing part configured to store the AUV; a control part configured to control the storing part; and a support part configured to support the control part and the storing part and to prevent a burial of the underwater base into the ocean bottom. The control part is further configured to guide the AUV while approaching a desired target position on the ocean bottom.

Underwater platform with lidar and related methods

Abstract: Systems and methods for conducting autonomous underwater inspections of subsea and other underwater structures using a 3D laser mounted on an underwater platform such as AUV, an ROV or a tripod. The systems and methods described herein can be used for scanning underwater structures to gain a better understanding of the underwater structures, such as for example, for the purpose of avoiding collision of an underwater vehicle with the underwater structures and for directing inspection, repair, and manipulation of the underwater structures.

High-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform autonomous launch and recovery (ALR) of an autonomous underwater vehicle (AUV)

Abstract: There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV) or Remotely Operated Vehicles (ROV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this paper is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 unmanned surface vehicle (USV) in order to autonomously launch and recover a REMUS 100 autonomous underwater vehicle (AUV). The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous-Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.

Design principle of a biomimetic underwater robot U-CAT

Abstract: This paper presents a design rationale and describes the design of a biomimetic underwater robot U-CAT. U-CAT is an autonomous, small-size and low cost vehicle, currently under development, for shipwreck penetration. The robot will assist archaeologists during possibly dangerous and expensive shipwreck exploration missions. It reduces the need of using divers, while being able to go to places that remain unreachable for ROVs. U-CAT uses a novel 4-fin actuation that gives the vehicle high maneuverability for operating in complex environments with walls, ropes, nets and other obstacles. The use of fins also allows more quiet motion with respect to the traditional propellers. Fins beat up less sediment from the bottom and the walls, and thus maintain higher visibility for recording a video. The U-CAT will be also equipped with sensors specifically customized for shipwreck exploration tasks.

An Intervention-AUV learns how to perform an underwater valve turning

Abstract: Intervention autonomous underwater vehicles (I-AUVs) are a promising platform to perform intervention task in underwater environments, replacing current methods like remotely operate underwater vehicles (ROVs) and manned sub-mersibles that are more expensive. This article proposes a complete system including all the necessary elements to perform a valve turning task using an I-AUV. The knowledge of an operator to perform the task is transmitted to an I-AUV by a learning by demonstration (LbD) algorithm. The algorithm learns the trajectory of the vehicle and the end-effector to accomplish the valve turning. The method has shown its feasibility in a controlled environment repeating the learned task with different valves and configurations.

CAPTURE: A Communications Architecture for Progressive Transmission via Underwater Relays With Eavesdropping

Abstract: As analysis of imagery and other science data plays a greater role in mission execution, there is an increasing need for autonomous marine vehicles to transmit these data to the surface Communicating imagery and full-resolution sensor readings to surface observers remains a significant challenge Yet, without access to the data acquired by an unmanned underwater vehicle (UUV), surface operators cannot fully understand the mission state of a vehicle This paper presents an architecture capable of multihop communication across a network of underwater acoustic relays In concert with an abstracted physical layer, CAPTURE provides an end-to-end networking solution for communicating science data from autonomous marine vehicles Automatically selected imagery, SONAR, and time-series sensor data are progressively transmitted across multiple hops to surface operators To incorporate human feedback, data are transmitted as a sequence of gradually improving data “previews” Operators can request arbitrarily high-quality refinement of any resource, up to an error-free reconstruction The results of three diverse field trials on SeaBED, OceanServer, and Bluefin AUVs, with drastically different software architectures, are also presented

Underwater human-robot communication: A case study with human divers

Abstract: Despite advances in underwater technology, human divers are still employed to carry out a wide variety of dangerous underwater tasks. To enable a diver to complete tasks safer and more efficiently, it is proposed that an Underwater Robotic Assistant (UWRA) could act as a robotic dive buddy. For example, the UWRA could ferry tools from the surface, carry scientific samples, and provide illumination in dark environments. However, one of the major hurdles to operating autonomous systems below the water's surface is that high-frequency radio signals are greatly attenuated by water. This severely limits the type of commands a diver can issue to the robot. Thus, one of the contributions of this paper is an analysis of the types of Underwater Human-Robot Communication (UHRC) that are possible between a diver and a UWRA. Following the analysis, we discuss implementation of a few of the proposed methods of UHRC where an underwater robot assists a diver during the installation of an underwater mechanical platform.

Underwater Vehicle for Surveillance with Navigation and Swarm Network Communication

Abstract: Autonomous Underwater Vehicles (AUVs) have gained more popularity in recent years for military as well as civilian applications. One potential application of AUVs is for the purpose of undersea surveillance. As research into underwater surveillance using AUVs progresses, issues arise as to how an AUV acquires acts on, and shares information about the underwater battle space. These issues naturally touch on aspects of vehicle autonomy and underwater communications, and need to be resolved through a spiral development process that includes experiments at sea. This paper presents an implementation of swarm network communication for AUVs which is used to transfer the data, to communicate with one another to perform tasks as an intelligent group including surveillance. When a task identified from a seafloor, a single AUV could follow that task and report the whereabouts. Other vehicles in the swarm could track additional individuals, produce detailed maps of the area, detect AUV updates to a distant command post. As individual AUV leave the swarm to fulfill their assigned tasks, the swarm could autonomously reorient itself. This reduces the inspection duration and inspection cost for underwater vehicle. This paper has described the on-board signal processing including a navigation and network communication which were successfully implemented. The vehicle is designed and simulation is studied in computer analysis as per the required parameters and condition. The Simulation of swarm network communication and navigation multi-path trajectory is performed.

The state of art of Autonomous Underwater Vehicles in current and future decades

Abstract: As the need and applications of Autonomous Underwater Vehicles (AUVs) increase day by day, the research on AUVs become a popular and important topic now a days. A good number of publications are available periodically. Unfortunately till now a review report on current status of the works done on AUVs is hard to find in literature. This paper presents a comprehensive survey on recent works done on AUVs and its applications in real life. Scientific researches on AUVs and the great achievements in India and abroad are presented. A brief history of chronological development of technologies of AUVs is established. A note on possible directions and works may be done in future is also mentioned. This is paper is intended to serve as an immense reference for the future researchers working in the field of AUV.

Design and development of an under-ice autonomous underwater vehicle for use in Polar regions

Abstract: Presented here is the initial hardware and software design of the Icefin autonomous underwater vehicle for use in under-ice missions in Antarctica. Exploration of the ocean beneath hundreds of meters of ice in Antarctica is a difficult task. However, many areas of science are interested in obtaining data from this environment and other similar environments including Jupiter's moon Europa. Deployment of an unmanned underwater vehicle to obtain data beneath Earth's ice shelves is much less dangerous and expensive than manned submarines or human diver deployments. However, the under-ice environment presents many unique challenges for an unmanned underwater vehicle including deployment through a small ice hole and extreme temperatures. The Icefin vehicle is designed as a modular, man portable, vertically deployed vehicle able to withstand the environmental challenges of the Polar Regions and the extreme depths required for the missions of interest. The Icefin has been designed with a full sensor suite to facilitate the necessary scientific data collection. The software suite used by the vehicle is designed around the MOOS middleware framework. This vehicle is slated to be deployed in Antarctica starting October 2014.

Design elements of a small AUV for bathymetric surveys

Abstract: We describe the principal design elements of the Virginia Tech 690 autonomous underwater vehicle (AUV). The 690 AUV is designed for bathymetric surveys up to 500 m deep. It displaces less than 45 kg (100 lbs) and can operate for up to 24 hours at 4 knots.

A strategy for reliability evaluation and fault diagnosis of autonomous underwater gliding robot based on its fault tree

Abstract: Underwater vehicles contribute significantly to exploiting great maritime resources. Autonomous vehicles are one of the various kinds of underwater vehicles which are able to perform operations without operator's interference. Autonomous underwater vehicles can be classified according to their propulsion systems. Autonomous Underwater Gliders (AUG) are among autonomous underwater vehicles which fall under the category of glide type underwater vehicles. They are designed in a way that they benefit low energy consumption and a wide survey range. Their reliable design is one of the challenges facing their manufacturing. Fault tolerance is one of the important attributes in designing reliable systems. Recognizing, evaluating and facing the faults are of great importance in designing fault tolerant systems. This paper studies underwater Glider vehicles' subsystems, considers their faults and causes, and provides a typical fault tree for these vehicles form which glider reliability and the effects of glider subsystems on its failure can be driven.

Cognitive Acoustics: Making Underwater Communications Environment-friendly

Abstract: Imagine an underwater world with hybrid acoustic users, as illustrated in Fig. 1. An oil drilling installation system may employ a sensor network with acoustic modems to monitor the deflection of the drill. In the same area there could also exist a bottom mounted data collection system using another underwater acoustic network (UAN) to communicate with surface buoys. Meanwhile, there could be autonomous underwater vehicles (AUVs) cruising in the water to inspect subsea oil pipelines and transmitting data wirelessly to their mothership. In addition, a few marine mammals, e.g. dolphins and whales, might be playing in the neighborhood, using the same acoustic channel to communicate with each other and search for food via echolocation. Now the question is: Will existing UANs work well in this scenario? Unfortunately, the answer is no.

A modular autonomous underwater vehicle for environmental sampling: System design and preliminary experimental results

Abstract: A small-size autonomous underwater vehicle (AUV) for underwater environmental sampling is developed. Example applications include bottom mapping using a sidescan sonar, and thermocline tracking using the conductivity-temperature-depth sensor. The AUV has a modular mechanical, electronic and software design which allows for a simple integration of payload sensors selected for different applications. It consists of five sections: three basic sections, one application section, and one optional section. The hardware architecture for the AUV has been designed to achieve a common electrical and mechanical interface between the different sections. The modular software development of the platform is based on the MOOS-IvP architecture. A lake experiment has been performed to test navigation, autopilot and environmental data recording capabilities of the system.

Unmanned Underwater Vehicle (UUV) Information Study

Abstract: : Unmanned underwater vehicles (UUV) are any vehicles that are able to operate underwater without a human occupant. Smaller and cheaper autonomous underwater vehicles (AUV) are today very capable and gaining users. Large autonomous underwater vehicles are more expensive but they offer capabilities in some missions and applications that no other platforms can offer. However, using unmanned underwater vehicles in marine applications provide some challenges such as noisy communication, position uncertainty and the likelihood of robot failures. In addition, standards for data and information sharing are not well defined and, as mature as it is, the unmanned underwater vehicle field is still an emerging sector. Within the last decade, interest in UUV to be part of specific military, industrial and academic missions and applications have increased due to technological innovation and the evolution of their sensor payload. Missions such as persistent surveillance, anti-submarine warfare, oceanography and mine coutermeasure are amongst those where UUV capabilities far exceed those offered by other platforms. Canadas vast coastal areas could benefit from the introduction of UUVs to perform various roles. On one hand, their use is very cost-effective. On the other hand, they offer persistence and data quality that are not achievable using traditional methods. This usefulness is even more reflected in remote environments, where deploying personnel is a very costly alternatives. In order to enable the integration of the data and information provided by a UUV it is necessary to have a look in the underlying data and information sharing standards related to them. Achievement of interoperability between multiple national and international agencies is mandatory if one seeks to use the UUV to its full potential in support of the generation of more complete maritime domain awareness.

The project V-fides: A new generation AUV for deep underwater exploration, operation and monitoring

Abstract: The proposed work is in the framework of the V-Fides project, aiming at developing a new generation of agile, over-actuated, long endurance Autonomous Underwater Vehicles, for deep underwater exploration, operation and monitoring. The project is co-funded by Tuscany Region (Italy) and is developed by a team lead by WASS S.p.A. (Whitehead Sistemi Subacquei, Livorno) with the participation of several partners including two research institutions of the University of Pisa and Small-Medium Enterprises in the Pisa-Livorno area. The vehicle is a general purpose, 3000m depth rated underwater vehicle with highly maneuverability capabilities, which can operate both as AUV and ROV. The vehicle is equipped with seven thrusters, with asymmetric input-output characteristic, and with a sensors payload for autonomous navigation, composed by: a tactical grade Inertial Measurement Unit (IMU), a Doppler Velocity Logger (DVL), a depth sensor, a magnetic compass and an acoustic modem for underwater communication and localization. This contribution gives an overview of the developed general architecture of the Navigation and Control module of the vehicle, from the algorithmic and system implementation stand-points.

Autonomous underwater pipeline monitoring navigation system

Abstract: This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

Thesaurus: AUV teams for archaeological search. Field results on acoustic communication and localization with the Typhoon

Abstract: The Thesaurus project, funded by the Tuscany Region, had among its goals the development of technologies and methodologies for archaeological search with Autonomous Underwater Vehicles working as a team in exploration missions. This has led to the design and realization of a new AUV class, the Typhoon, on the basis of the archaeological requirements, and of an appropriate acoustic simultaneous communication and localization scheme. The paper describes the project background, the technical characteristics of the Typhoon AUVs, and the field results in acoustic localization as obtained in the CommsNet13 cruise, led by the NATO CMRE (Centre for Maritime Research and Experimentation), to which the Thesaurus project teams of the University of Pisa and Florence took part. In particular, the fields result reports the performance of acoustic localization through on-board USBL communicating with fixed modems placed in initially unknown locations.

Path planning using coastal navigation for an underwater structure inspecting H-AUV

Abstract: Like coastal navigation, which keeps distance from coast for knowing the ship's position, we consider features on an underwater Jacket structure for safer and more reliable autonomous navigation. The features would be useful information for autonomous navigation as well as localization of hovering-type AUVs (H-AUVs), which inspect an underwater Jacket structure. Based on the feature information, we define the concepts, “certainty” and “reliability”, and we explain a path planning algorithm, which modifies a variation of Bi-RRT algorithm to consider the reliability of paths much more. The simulation experimental results show that the explained path planning algorithm generates safer and more reliable path for autonomous navigation of an H-AUV.