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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01 Aug 2017
TL;DR: The FeelHippo autonomous underwater vehicles is described, the vehicle designed and built by the MDM Lab of the University of Florence; it is a low cost autonomous underwater Vehicles suitable for these purposes, and an onboard acoustic localization system, based on aLow cost approach, has been implemented and preliminary experimental results are here reported.
Abstract: The involvement of autonomous underwater vehicles for patrolling, monitoring or maintenance activities of submersed structures in the coastal strip, harbors or in proximity of off-shore plants (e.g...
35 citations
28 Sep 1998
TL;DR: The EURODOCKER project as discussed by the authors developed a universal autonomous docking downloading-recharging system for AUVs, which is suited to various AUVs that are on the market or now under successful development and thus aims at becoming a standard subsystem of the AUV support spread.
Abstract: The EURODOCKER project concentrates on the development of a universal autonomous Docking Downloading-Recharging System for AUVs. It shall be suited to various AUVs that are on the market or now under successful development and thus aims at becoming a standard subsystem of the AUV support spread. The project started with a system engineering task, in order to identify the detailed requirements of the EURODOCKER system as a whole. A wide search and collection of information on the characteristics of AUVs that influence the docking system design has been performed and meetings with institutions and people involved in AUV development have been held. This paper illustrates the outcomings of the first activities of the project, dealing with the conceptual design and the contact with the main AUV industry to sum up a trade-off envelope of requirement.
35 citations
TL;DR: The opportunistic planning problem is formally characterized, a novel approach to opportunistic Planning is introduced, and an on-board replanning approach is compared in the domain of AUVs performing pillar expection and chain-following tasks to provide a robust long-term autonomy.
Abstract: This paper explores the execution of planned autonomous underwater vehicle (AUV) missions where opportunities to achieve additional utility can arise during execution. The missions are represented as temporal planning problems, with hard goals and time constraints. Opportunities are soft goals with high utility. The probability distributions for the occurrences of these opportunities are not known, but it is known that they are unlikely, so it is not worth trying to anticipate their occurrence prior to plan execution. However, as they are high utility, it is worth trying to address them dynamically when they are encountered, as long as this can be done without sacrificing the achievement of the hard goals of the problem. We formally characterize the opportunistic planning problem, introduce a novel approach to opportunistic planning, and compare it with an on-board replanning approach in the domain of AUVs performing pillar expection and chain-following tasks. Note to Practitioners —This paper concerns high-level intelligent automation of unmanned vehicle operations in the context of undersea inspection and maintenance. The objective is to provide a robust long-term autonomy, enabling the vehicle to make its own decisions about how to prioritize goals and use its resources. Plans to achieve large numbers of goals over time are constructed autonomously by a planning system using models of activity and resource consumption. In order to avoid running up against resource bounds in a way that would compromise robustness, models of resource consumption are conservative. An important aspect of long-term autonomy concerns how unused resources that accumulate over time because of conservative assumptions can be used to increase overall utility. The approach we describe is deterministic: we do not model uncertainty or allow the planner to reason with contingencies. Instead, we focus on how to exploit resource intelligently to obtain the best available utility, in a way that does not undermine the reliability or predictability of operational behavior.
35 citations
Patent•
30 May 2008TL;DR: In this paper, an underwater vehicle that can be operated as a remotely operated vehicle (ROV) or as an autonomous vehicle (AUV) is described, where the underwater vehicle has a tether, which ma be a fiberoptic cable, that connects the vehicle to a control console.
Abstract: Disclosed is an underwater vehicle that can be operated as a remotely operated vehicle (ROV) or as an autonomous vehicle (AUV). The underwater vehicle has a tether, which ma be a fiberoptic cable, that connects the vehicle to a control console. The underwater vehicle has vertical and lateral thrusters, pitch and yaw control fins, and a propulsor, all of which may be used in an ROV-mode when the underwater vehicle is operating at slow speeds. Th underwater vehicle may also be operated in a AUV-mode when operating at higher speeds. The operator may switch the vehicle between ROV-mode and AUV-mode. The underwater vehicle also has a fail-safe mode, in which the vehicle may navigate according to a pre¬ loaded mission plan if the tether is severed.
35 citations