Intervention AUV

About: Intervention AUV is a research topic. Over the lifetime, 980 publications have been published within this topic receiving 14130 citations.

Sensing the Position of a Remotely Operated Underwater Vehicle

Abstract: The importance of remotely operated underwater vehicles for construction, inspection, and maintenance of off-shore structures has been continuously increasing in the recent years. Especially oil prospecting in water depths inaccessible for human divers (>300m) needs unmanned vehicles. For a great variety of tasks a robust positioning control of the vehicle is required. This control is complicated not only due to nonlinearities involved in the system including the umbilical and parameter uncertainties [1,7] but also because of the lack of precise position information. The positioning problem can be split into two domains: the region far from the structure, where the navigation from the basis ship to the structure takes place and the region close to the structure, where the position of the vehicle relative to the structure must be kept for a task to be performed.

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

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

Aquatis and Ryujin projects: First steps to remote sensing bottom of the sea by small homemade Autonomous Underwater Vehicles

Abstract: Acquiring 3D very hight resolution data in operational conditions is a real challenge in marine coastal areas exploration for environmental, archaeological and defense and security applications. Inorder to achieve these goals the use of small autonomous robots can be seen as an efficient solution. Because of the complexity of the development of that kind of vehicles, the main contribution are due today to large research laboratories. But because of the democratization of information and communication technologies, such works begin to be affordable and as participating to these developments could be also a very interesting and innovative pedagogical experience, we have chosen to open some of our research projects to undergraduate students. In this paper, we present two research projects in the development of Autonomous Underwater Vehicle involving undergraduate students, projects that have won awards in the international student contest SAUC-E.