Topic
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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19 Dec 2011
TL;DR: The initial requirements for the underwater system, the main solutions adopted for the vehicle subsystems, and some data from the first in-water tests are provided, performed only 6 months after the beginning of the project.
Abstract: This paper describes the full development process of TriMARES, a hybrid AUV/ROV designed to fulfil the requirements of a consortium for the inspection and periodic monitoring of a large dam reservoir. The demand of robotic systems for underwater operations is growing exponentially and there are many scenarios for which the commercial solutions are not adequate. Such was the case with TriMARES, where it was possible to take advantage of previous designs to achieve a custom solution in a short time. We describe the initial requirements for the underwater system, we present the main solutions adopted for the vehicle subsystems, and we provide some data from the first in-water tests, performed only 6 months after the beginning of the project.
36 citations
01 Oct 1991
Abstract: The Norwegian Experimental Remotely Operated Vehicle (NEROV) inexpensive. is described. The vehicle is designed and built at the Division of Engineering Cybernetics, Norwegian Institute of Technology (NTH). The NEROV vehicle is an unmanned autonomous underwater vehicle (AUV) especially designed for testing advanced intelligent and conventional control algorithms. The vehicle is autonomous with respect to both energy and information. The vehicle will (MOBATEL) project at NTH. In teleoperation it is desirable to remove the non-minimum phase behaviour i.e. the time delay in the communication channel caused by e.g. a hydroacoustic communication link. This suggests a modellbased control structure. The vehicle is currently being tested in the Towing Tank and the Ocean Basin Laboratory at the Norwegian Marine Technology Research Institute (MARINTEK) in Trondheim, Norway. also be used in the Modellbased Teleoperation
36 citations
Patent•
Eni1
TL;DR: An autonomous underwater system for effecting long-term monitoring, in continuous, onsite and with a wide range of parameters relating to the sea environment, consisting of a multidisciplinary underwater station and an autonomous underwater vehicle, co-operating with each other to allow various kinds of environmental explorations is presented in this article.
Abstract: An autonomous underwater system for effecting long-term monitoring, in continuous, onsite and with a wide range of parameters relating to the sea environment, consisting of a multidisciplinary underwater station and an autonomous underwater vehicle, co-operating with each other to allow various kinds of environmental explorations. In particular, the present system represents a solution for monitoring the environmental impact of offshore activities, characterizing unexplored sites, supporting the management of polluted areas, monitoring the integrity of structures installed in underwater environments and verifying the possible intrusion of third-parties in an area to be monitored. The autonomous underwater system for environmental monitoring (100) comprising a multidisciplinary underwater station (101) equipped with onboard instrumentation (202), at least one autonomous, modular underwater vehicle (102) movable inside an area to be monitored (107) along an assigned route 106 and at least one external instrumental modulus (206) which can be connected to said vehicle (102), wherein said multidisciplinary underwater station (101) comprises a docking area (204), an interface system (220), an equipping system (207) for supplying the vehicle (102) with instrumental modula (206) and a management system (201). Said autonomous modular underwater vehicle (102) belonging to the autonomous underwater system for environmental monitoring (100) can be equipped with onboard measurement sensors (311), and comprise at least one main thruster (302), at least one auxiliary thruster for fine positioning (305, 306, 307), a hull (301), at least one electronic control modulus (313), at least one energy reserve (312), at least one connection system (308), and means for attaching (317) at least one instrumental external modulus (206), wherein said instrumental external modulus (206) is equipped with at least one measuring sensor (314). A further object of the present invention relates to a method using a multidisciplinary underwater station (101), an instrumental external modulus (206) and an autonomous modular underwater vehicle (102) for collecting data relating to the underwater environment in relation to time, and providing, after processing, a four-dimensional vision of the underwater environment monitored.
36 citations
TL;DR: In this paper, the authors developed a mathematical model for the underwater vehicle and derived a stable gliding condition for it, where an LQR controller was designed to control the zigzag depth of the vehicle, where the derived gliding conditions were used as set-points of the control system.
Abstract: To provide a conventional autonomous underwater vehicle with gliding capability, we assume a moving battery and a buoyancy bag installed in a torpedo shaped autonomous underwater vehicle. We develop a mathematical model for the underwater vehicle and derive a stable gliding condition for it. Then an LQR controller is designed to control the zigzag depth of the vehicle, where the derived gliding condition is used as set-points of the control system. For control efforts in the gliding movement, the changes in the center of gravity and the net buoyancy are used, but neither thruster nor rudders are used. By using the gliding capability, the underwater vehicle can move to a farther location silently with less energy consumption and then start operating as a normal autonomous underwater vehicle. We show the feasibility of the proposed method by simulations using Matlab/Simulink.
36 citations
TL;DR: In this article, the authors describe cooperative control algorithms for robots and sensor nodes in an underwater environment and present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules.
Abstract: In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information such as data download and retasking; cooperative localization and tracking; and physical connection (docking) for tasks such as deployment of underwater sensor networks, collection of nodes and rescue of damaged robots. We present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules. We present the hardware and software architecture of this underwater system. We then describe various interactions between the robots and sensor nodes and between the two robots, including cooperative navigation. Finally, we describe our experiments with this underwater system and present data.
36 citations