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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.


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Proceedings ArticleDOI
10 Apr 2007
TL;DR: An architecture for autonomy structured on the behavior-based control model augmented with a novel approach for performing behavior coordination using multi-objective optimization is described and motivate.
Abstract: This paper is about the autonomous control of an autonomous underwater vehicle (AUV), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array. Mission related objectives are tempered by the need to consider the effect of a sequence of maneuvers on the motion of the towed array which is thought not to tolerate sharp bends or twists in sensitive material. We describe and motivate an architecture for autonomy structured on the behavior-based control model augmented with a novel approach for performing behavior coordination using multi-objective optimization. We provide detailed in-field experimental results from recent exercises with two 21-inch AUVs in Monterey Bay California.

40 citations

Proceedings ArticleDOI
20 Aug 1998
TL;DR: A vision system has been developed in order to support the autonomous operation or operated-assisted missions of AUV and ROV near the ocean bottom and is described and sample results from various experiments for evaluating performance are provided.
Abstract: A vision system has been developed in order to support the autonomous operation or operated-assisted missions of AUV and ROV near the ocean bottom. The sea-floor images, acquired by a down-look camera installed on the vehicle, are processed by the vision system in order to detect and estimate its motion in real time. This information is utilized to realize a number of capabilities, including automatic station keeping, navigation and trajectory following, and the construction of a composite (mosaic) image of the sea floor. We describe the system and provide sample results from various experiments for evaluating performance. We also provide examples from ongoing work, planned for implementation on the real-time vision system.

39 citations

Journal ArticleDOI
TL;DR: In this paper, an AUV and a remotely operated vehicle (ROV) complementing each other on a scientific cruise in the Trondheim Fjord (Norway) is described.
Abstract: This paper describes an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV) complementing each other on a scientific cruise in the Trondheim Fjord (Norway). The Norwegian University of Science and Technology Applied Underwater Robotics-Laboratory and the Norwegian Defense Research Establishment mobilized for a collaborative cruise with an ROV equipped with video camera, dynamic positioning system, still camera for photographic mosaic, underwater hyperspectral imager (UHI) and inertial measurement unit, and the AUV Hugin HUS with synthetic aperture sonar (SAS) and still camera as main instruments. A multidisciplinary approach was used to set up the operations for using ROV, AUV, SAS, and UHI to document archaeological and biological sites. The cruise was run as an integrated operation processing data online and using collected data actively in the cruise planning and replanning. The AUV presented unparalleled area coverage capacity for mapping and search, while the ROV provided detailed information from the sites. During the cruise, approximately 20 km2 were mapped with high-resolution sensors, and the data were ground-truthed using the ROV. These data provided new information and insight of both biological and archaeological sites.

39 citations

Proceedings ArticleDOI
06 Oct 1997
TL;DR: In this article, the authors present the results of a demonstration of two degree-of-freedom automatic station keeping of a remotely operated vehicle (ROV) in an ocean environment using vision feedback, which was done as a collaborative effort in vehicle control between the Aerospace Robotics Laboratory (ARL) and the Monterey Bay Aquarium Institute (MBARI).
Abstract: This paper will present the results of a demonstration of two degree-of-freedom automatic station keeping of a remotely operated vehicle (ROV) in an ocean environment using vision feedback. This work was done as a collaborative effort in vehicle control between the Aerospace Robotics Laboratory (ARL) and the Monterey Bay Aquarium Institute (MBARI). The results show how the transfer of technology from a testbed autonomous underwater vehicle (AUV) to an ocean-going ROV can be applied to the creation of pilot aids that reduce ROV pilot workload during certain tasks.

38 citations

Proceedings ArticleDOI
01 Jan 2003
TL;DR: In this paper, a new experimental AUV, called "MARINE BIRD" with new underwater docking and recharging system was developed, which is based on an original, unique concept, different from previous ones.
Abstract: Autonomous Underwater Vehicles (AUVs), used by marine scientists mainly, have to refuel and download data regularly. Usually, AUVs resurface and are recovered for these routine tasks, but surfacing waste time and manpower for AUV's launch and recovery on a support ship. Especially, the cost of manpower on the support ship is in problem for long-term monitoring. To solve these problems, some concepts of underwater docking and recharging, that AUV docks with a fixed (or mobile) base, to recharge its batteries and download data, are suggested. When AUVs need no surfacing for routine tasks by this system, it will become a 'completely autonomous' underwater observation and monitoring system in the future. Some devices of underwater docking and recharging system for AUVs have been suggested and underwater-tested in U.S. and Europe, but we have developed a new experimental AUV, called "MARINE BIRD" with new underwater docking and recharging system. This system is based on an original, unique concept, different from previous ones. We have also carried out docking trials in the dock, the MARINE BIRD succeeded the docking test and demonstrated the excellence of its autonomous docking capability. This paper introduces an overview of MARINE BIRD, docking and recharging system, and test results of docking test.

38 citations


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