Intervention AUV

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

Navigation and Position Control of Underwater Vehicle ROSUB 6000

Abstract: Remotely operated vehicles are the main tools in exploring and exploiting subsea resources. The design, development and implementation of navigation control algorithms for deepwater work class Remotely Operated Vehicle – ROSUB 6000 is described in detail in this paper. The objective of this paper is to present the mathematical formulation and dynamics of ROV along with simulation results towards perfect tuning of ROV motion control algorithms for all three angular motions heading, pitch and roll. In this paper, the derivation of algorithm and automatic control of nonlinear systems using reverse dynamic task theory is stated. The basic essential input and output parameters of algorithm are also described. The paper presents simulation results, tank test results and results of some initial sea trials.

Trajectory control of deep sea vehicle “OTOHIME”

Abstract: In those days, survey of deep sea floor is increasing importance and many kinds of facility are using for it. Autonomous under water vehicle (AUV) is one of the facilities and thought to be most effective method than remotely operated vehicle (ROV) or human operated vehicle. The main function of AUV is to design navigation course for survey by itself and complete the mission with keeping the course. However actual method for it is not established yet. Then we put the target of this study on developing this function for under water vehicle “OTOHIME” in Japan Agency for Marine-Earth Science and Technology (JAMSTEC). At first, we made mathematical model of its motion with not complete 6(six) degree of freedom (DOF) but restricted DOF which is effective to actual motion. They are very simple and easy to determine the parameters. Then we discussed how to control the vehicle motion and confirmed the performance with simulation. The results showed good performances. We are intending to confirm the results with the experiments using “OTOHIME” and expand autonomous functions for effective use of it.

Hydrodynamics of Hybrid-Driven Underwater Vehicle at AUV Mode

Abstract: Hybrid-driven underwater vehicle(HUG) is a new type of autonomous underwater vehicle.It is an integration of conventional autonomous underwater vehicle(AUV) and autonomous underwater glider(AUG) in the structure and function.It can autonomously cruise in the water in the AUV mode and follow sawtooth trajectory in the AUG mode.The distinguished features include high speed,long cruising range,and good maneuverability.Maneuverability and the hydrodynamic drag on the vehicle are two important factors to evaluate performance of the vehicle under the AUV mode.In this paper,vehicle maneuverability and the hydrodynamic drag in the AUV mode were investigated using computational fluid dynamic method.Results show that the integration of AUV and AUG may require a sacrifice of maneuverability and causing an increase in the drag,which are decreases of 15%~25% in the maneuverability and an increase of 30% in the drag for the presented hybrid-driven underwater vehicle.