Intervention AUV

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

Underwater observation system using Autonomous Towed Vehicle

Abstract: On the project of the improvement of Tokyo Bay Waterway, it was needed to take a picture to confirm the effect of the artificial fish reefs constructed by the ruined blocks of the Third Fort of Tokyo Bay. However, in this sea area, the current is fast and the water depth is too deep for diver's work. Therefore, to develop a new system in order to carry out viewing work safely and efficiently was required. An underwater observation system using "autonomous towed vehicle" was proposed and the dynamic characteristic of the system was investigated by the basic motion simulation. Moreover, the hydrodynamic coefficients were determined by the results of the towing tank test. After the stability of the towed vehicle was verified by the examination based on the experimental data, the body of the prototype model was manufactured. This paper discusses the total control system of the vehicle including the collision avoidance method with the obstacle. And the result of the field experiment which uses existing AUV (Autonomous Underwater Vehicle) aiming to confirm the feasibility of the U-GIS (Underwater Geographic Information System) using AUV is also described.

Novel Approaches to Geophysical Navigation of Autonomous Underwater Vehicles

Abstract: This paper introduces a method for the navigation of autonomous underwater vehicles (AUVs) and tracking of submersible targets that relies on analytic inversion of magnetic field anomalies The magnetic sensor arrangement proposed configures a gradiometer array whose nodes may correspond to a set of collaborative AUVs deployed in a formation of adaptable geometry The solution presented envisions applications to scientific, industrial, and military activities

The mechatronic system of Eco-Dolphin — A fleet of autonomous underwater vehicles

Abstract: This paper presents the mechatronic system of a fleet of three autonomous underwater vehicles (AUVs) called Eco-Dolphin. Besides common features of robots, the unique challenges for underwater robots such as water proof technology and underwater communication are addressed. The Eco-Dolphin fleet is built to serve both societal and the academic needs specified below. Coastal areas have the densest human populations and serve as critical economic and recreational areas. However, they are sensitive to both human-induced and natural alterations as well as disasters. While robots are widely used to replace humans for dangerous work in many other fields, environmental monitoring missions in coastal waters still mostly rely on human divers. To serve the societal need, the Eco-Dolphin fleet presents a novel prototype of cost effective robots for monitoring coastal environments. The fleet can collect data cooperatively with minimal supervision from the users on a nearby boat. To contribute to academic research, the fleet is used to test swarming algorithms for robot formation in 3D space. To contribute to science education, the Eco-Dolphin project offers a platform for students to gain hands-on research experiences and an incubator to find first-hand scientific research problems.

Underwater topography measurement and observation in Southwest Taiwan using unmanned underwater vehicles

Abstract: With the depletion of land resources, marine resources development and utilization become increasingly apparent. Accompanied by the development of marine resources from nearshore extension to the deep ocean, Unmanned Underwater Vehicles (UUVs) become key instruments. Generally, UUVs include autonomous and tethered types; each has its advantages and disadvantages. Through the use of combined vehicle systems, we could take advantages of both systems. With the recent advent of seafloor observatories, deep submergence science is poised to enter a new research era where scientists will gain a more detailed understanding of various seafloor features. In this study, the Autonomous Underwater Vehicle (AUV) path planning in west Good Weather Ridge (119 55', 22 15') with the multi-beam echo sounder to obtain underwater topography. In order to observation the environment, the Remotely Operated Vehicle (ROV) is hired to carry out the terrain image at 1350m water depth in detailed. This experience will help to build future underwater investigation capabilities.

Design of an Autonomous Underwater Vehicle (AUV) Charging System for Underway, Underwater Recharging

Abstract: : Modern robotics have enabled the rapid proliferation of Autonomous Underwater Vehicles (AUVs) throughout the marine environment. As autonomy algorithms increase in robustness, complexity, and reliability, so too does the ability of AUVs to perform an even-increasing array of complex missions. Maritime tasks that once required a fleet of ships, months to complete, and numerous mariners are now being performed by AUVs with little to no logistical support elements. Despite the many AUV technology advances that have been made, power remains a limiting factor. Most AUVs use onboard stored electric energy and electric drive to perform their various missions. The current method for deploying this type of AUV requires charging it above water, shipping it to a mission site, and then deploying it overboard with the use of cranes. The AUV is then recovered once the mission is complete or ? more likely ? when its power source is depleted. The deployment and recovery phases are time-intensive, limited by weather conditions and sea state, and often hazardous to both crew and AUV. While deployment and recovery will remain critical, high-risk evolutions, there exists a need to find a safer and faster recharging method that does not require recovery of the vehicle. This thesis addresses a fraction of the underwater AUV power transfer and rapid charging challenge through the development of the power electronics required to reliably charge a single battery pack. Power is supplied inductively to a receiver coil in the AUV. This power is then transferred to a down converter with a current-sensing feedback controller to provide a regulated current under the varying load voltage of the battery pack. The system is capable of providing up to 500W of instantaneous power to a single pack. It is electrically isolated from the power source through the use of an input transformer and is compact enough to be integrated into an AUV for future testing.