Intervention AUV

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

Tracking control of autonomous underwater vehicles

Abstract: Abstract : Recovery of Autonomous Underwater Vehicles (AUVs) can often be an autonomous operation itself. In the case of an AUV that is launched and recovered at some significant depth below the surface, the recovery platform to which the vehicle will dock is often not a stationary platform. The recovery cage/platform has dynamics associated with it, which are induced by wave motion effects on the ship to which the cage is tethered. In order to successfully recover a vehicle into a cage platform it will be preferred for the vehicle to have the capability to compensate for this motion when making its final approach to the cage. Using active compensation, a smaller cage can be utilized for recovery of an AUV. This research attempts to investigate a means by which a vehicle may be made to track, in depth, dynamic motion with zero phase lag between the vehicle and the recovery platform utilizing an error space controller.

Marine Observation Network based on Underwater Vehicles

Abstract: Recently, ocean observation is developing from using a single underwater sensor node to employing underwater sensor networks consisting of multiple sensor platforms. Underwater vehicles including underwater gilders and autonomous underwater vehicles (AUVs) are important underwater mobile sensor platforms in ocean observation networks. For ocean observation and networking applications, Shenyang Institute of Automaton (SIA), Chinese Academy of Sciences, has developed a number of underwater vehicles including AUVs and underwater gliders. This paper presents existing and future research efforts in SIA centered around the development, testing, and applications of SIA's underwater vehicles in ocean observations and mobile marine sensor networks.

An autonomous underwater vehicle for observation of underwater structure

Abstract: Various kinds of robots have been developed actively with progress of computer, and the operations with robots in the extreme environment such as rescue, space and ocean are getting practical solutions. The underwater robots are expected as one of solutions for underwater activities, i.e., maintenance of underwater structures, observations, scientific research, and their efficiencies are investigated in the oceans during recent decades. And according with human activities, the underwater structures are also getting large-scale and large-depth. In order to do safe and efficient works, the underwater activities are desired to be carried out automatically as possible. This paper describes development of an autonomous underwater vehicle for observation of underwater environment.

A deep sea docking station for ODYSSEY class autonomous underwater vehicles

Abstract: : Under subcontract to the Massachusetts Institute of Technology's (MIT) Sea Grant Autonomous Ocean Sampling Network (AOSN) program, engineers and researchers at the Woods Hole Oceanographic Institution (WHOI) designed, fabricated and operated a deep sea Docking Station for ODYSSEY class autonomous underwater vehicles (AUVs). The docking station provides shelter as well as power transfer and data exchange services for an AUV that is between autonomous midwater missions. The Station is integrated into the main tension member of a deep sea mooring system. A large subsea flotation sphere supports the mass of the Station above the seafloor. A surface expression connected by an umbilical to the Station was capable of bi-directional satellite or radio frequency communications. Primary subsystems of the Docking Station described in this report include a dock controller with multi-sensor support, long duration battery packs, a docking pole with a moving carriage, an inductive link for power and data transfer, and information about how the Station was deployed, operated and recovered.