Topic
Intervention AUV
About: Intervention AUV is a research topic. Over the lifetime, 980 publications have been published within this topic receiving 14130 citations.
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01 Jan 2009
TL;DR: The obstacle avoidance approach adopted and its implemenation within Autosub6000 is outlined and results from trials of the Tritech Seaking mechanically scanned sonar system are given.
Abstract: The recently developed Autosub6000 Autonomous Underwater Vehicle (AUV) is the latest in the Autosub series of AUVs that
have been built at the National Oceanography Centre, Southampton. The previous AUV have been deployed on numerous science missions over the last decade. Autosub6000, with its 6000m depth capability, is currently in demand for deep ocean bathymetric surveys using its Simrad EM2000 multibeam sonar system. However, the terrain that can currently be surveyed is limited due to the lack of an obstacle avoidance system. In order to survey rugged and challenging regions a new obstacle avoidance system is being developed. This system uses a Tritech Seaking mechanically scanned sonar system oriented to scan vertically in front of the AUV to provide details of obstacles as well as changes in terrain. This paper describes the obstacle avoidance approach adopted and outlines its implemenation within Autosub6000. Simulation outputs showing the performance of the system are presented and results from trials of the Tritech Seaking sonar are also given.
3 citations
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24 Sep 1990TL;DR: In this paper, the authors present the results of their research efforts for the development of an autonomous underwater robotic vehicle in the areas of vehicle control and optical sensing, which is an important tool for various undersea tasks, because they have greater speed, endurance and depth capability than human divers.
Abstract: Underwater robotic vehicles ( URVs) are an important tool for various undersea tasks, because they have greater speed, endurance, and depth capability than human divers. With the increased utilization of the vehicles in subsea applications, the development of autonomous vehicles becomes highly desirable to enhance efficiency of the operation. However, engineering problems associated with the high density, nonuniform and un structured seawater environment and the nonlinear dynamic be havior of the vehicle make a high degree of autonomy difficult to achieve. The control and sensory system is oue of the most critical subsystems to increase autonomy of the vehicle. In this paper, the recent results of our research efforts for the de velopment of an autonomous underwater robotic vehicle in the areas of the vehicle control and optical sensing are presented.
3 citations
01 Jan 2009
TL;DR: In this article, the design and development 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.
Abstract: Autonomous Underwater Vehicles (AUVs) are robotic submarines that are a part of the
emerging field of autonomous and unmanned vehicles. AUVs are valued for both their
expand ability and replace ability; they can be deployed in hazardous environments without
risking human divers. Economically, the potential for cheap scalability makes AUVs ideal for
large scale and long term data collection tasks. This project shows the design and
development 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 prototype has been developed and will have a fixed mechanical system and body, having
a modular electronic system that allows development of various controllers, as well as able to
add some recording devices and sensors module. The controller and motors has been tested in
small scale surface water and the result is encouraging. Some modification need to be done to
the electronic parts as it also can be used for testing and learning conventional and advanced
control algorithms and techniques to other underwater systems.
3 citations
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15 Aug 2011TL;DR: In this article, a landing AUV that can land on the sea floor to perform long-term monitoring and measuring tasks and save onboard electric energy is presented, where a triangular structure composed of three cabins is used to achieve stable bottom sitting.
Abstract: Autonomous underwater vehicles (AUVs) have become main tools for underwater survey in scientific, military, and commercial applications. A significant amount of onboard power is needed to execute long-range missions; however, energy storage is limited in AUV. This paper presents a novel landing AUV that can land on the sea floor to perform long-term monitoring and measuring tasks and save onboard electric energy. The AUV has following characteristics. Firstly, a triangular structure of the AUV which is composed of three cabins is used to achieve stable bottom sitting. Secondly, the releasing mechanism is designed to eject and recover the AUV. Bottom sitting and recovering is verified by ocean trials. This paper provides guidance for design of similar AUVs.
3 citations