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Intervention AUV

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


Papers
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Proceedings ArticleDOI
J. Michel1, J. Jarry
01 Jun 1985

3 citations

Journal ArticleDOI
TL;DR: In this paper, the authors present results from the experimental evaluation of a control architecture for visually guiding an AUV to detect and track a cable, or pipeline, laid on the seabed.

3 citations

Book ChapterDOI
01 Jan 2008
TL;DR: In this article, an underwater system comprising two different autonomous underwater robots (AUV) and ten static underwater nodes (USN) networked together optically and acoustically is presented.
Abstract: We present details and results obtained with an underwater system comprising two different autonomous underwater robots (AUV) and ten static underwater nodes (USN) networked together optically and acoustically. The AUVs can locate and hover above the static nodes for data upload, and they can perform network maintenance functions such as deployment, relocation, and recovery. The AUVs can also locate each other, dock, and move using coordinated control that takes advantage of each AUV’s strength.

3 citations

DOI
01 Jan 2011
TL;DR: In this article, the authors focused on developing dynamic model of UAV for the purpose of guidance and control, and a HILS (Hardware-In-the-Loop Simulation) based novel framework for rapid construction of testing scenarios with embedded systems has been investigated.
Abstract: Significant advances in various relevant science and engineering disciplines have propelled the development of more advanced, yet reliable and practical underwater vehicles. A great array of vehicle types and applications has been produced along with a wide range of innovative approaches for enhancing the performance of unmanned underwater vehicle (UUV). These recent advances enable the extension of UUVs’ flight envelope comparable to that of manned vehicles. For undertaking longer missions, therefore more advanced control and navigation will be required to maintain an accurate position over larger operational envelope particularly when a close proximity to obstacles (such as manned vehicles, pipelines, underwater structures) is involved. In this case, a sufficiently good model is prerequisite of control system design. System evaluation and testing of unmanned underwater vehicles in certain environment can be tedious, time consuming and expensive. This paper, focused on developing dynamic model of UUV for the purpose of guidance and control. Along with this a HILS (Hardware-In-the-Loop Simulation) based novel framework for rapid construction of testing scenarios with embedded systems has been investigated. The modeling approach is implemented for the AUV Squid, an autonomous underwater vehicle that was designed, developed and tested by research team at Center for Unmanned System Studies at Institut Teknologi Bandung.

3 citations

01 Sep 2013
TL;DR: The autonomous gateway system described here manages RF and acoustic links without user intervention, using data caching and AUV link discovery to provide disruption tolerant telemetry services to multiple AUVs.
Abstract: Autonomous underwater vehicle (AUV) operators rely on underwater acoustic telemetry for monitoring and control during mission sorties. This requires operators to maintain acoustic communications by remaining nearby, or deploying a moored gateway buoy and remaining within radio frequency (RF) communications range. An autonomous mobile communications and navigations gateway system has been developed by Hydroid and Woods Hole Oceanographic Institution, to extend telemetry capabilities with REMUS AUVs over the horizon, for situations where deploying moored resources is impractical. Hydroid gateways rely on the Micro-modem acoustic modem, developed by the Acoustic Communications Group at Woods Hole Oceanographic Institution. The modem has been designed with signaling characteristics for reliable communication in the challenging shallow water horizontal propagation path, along with a small physical size and low-power electrical requirements, making it an ideal choice for installation in AUVs. This new mobile “Smart Gateway” is carried as a payload on the Liquid Robotics Wave Glider SV2, an autonomous surface vehicle (ASV), which provides significant energy with long endurance and mobility to allow deep water station keeping, and potentially AUV-coordinated transit. Traditional Gateway systems offered by Hydroid and others typically provide a simple serial interface to the deployed acoustic modem, over RF link. The autonomous gateway system described here manages RF and acoustic links without user intervention, using data caching and AUV link discovery to provide disruption tolerant telemetry services to multiple AUVs. In addition to caching data when links are down, the gateway can monitor the acoustic communications link performance, to adjust acoustic modem data rate, when REMUS AUVs are in range. In addition to telemetry services, the system can provide navigation assistance, by means of a moving long-baseline transponder. This paper provides a detailed system description, along with results from recent at-sea testing.

3 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202311
202220
20211
20201
20192
20183