Intervention AUV

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

REP10 AUV: Shallow water operations with heterogeneous autonomous vehicles

Abstract: The REP10 AUV experiment, which took place in Portugal, is described together with the lessons learned with this deployment. The REP10 AUV experiment was organized by the Portuguese Navy in cooperation with the Naval Undersea Warfare Center - Newport (US), Porto University (PO), the Naval Research Laboratory (US) and the NATO Undersea Research Centre (IT). The experiment was focused on the demonstration of heterogeneous autonomous vehicles in mine-warfare and Rapid Environmental Assessment missions. Nine autonomous submarines of 4 different types (Gavia, Iver2, LAUV SeaCon and Isurus) were deployed together with the autonomous catamaran Swordfish from the Bacamarte ship from the Portuguese Navy. Spatial and temporal segregation principles simplified the deployment of multiple vehicles from different institutions. Inter-operated wireless and acoustic networks were used to demonstrate the feasibility of real-time task re-planning and situational awareness. The surface autonomous vehicle proved key to the deployment of additional sonars and communication gateways. Remote servers were used for data assimilation and forecasting for daily planning.

Development of a micro autonomous underwater vehicle for complex 3-D sensing

Abstract: Nekton Research is developing a new series of micro-autonomous underwater vehicles (MicroAUV) called Rangers/sup TM/ that house commercial, multi-parameter water sensor arrays. Teams of these 9-centimeter diameter MicroAUVs work together to allow multi-agent, distributed sensing of inshore and near shore water down to 100 m depth. Swimming in schools of 4 to 12 members, these vehicles will work together to characterize phenomena as diverse as chemical plume geometry, small scale mixing, and 3-D flow dynamics. This Defense Advanced Research Projects Agency (DARPA) funded program combines a matti-agent distributed network search algorithm developed at Sandia National Labs (SNL), and an acoustic communication and navigation system developed at Woods Hole Oceanographic Institute (WHOI), with a new breed of AUV-Nekton Research's Ranger/sup TM/.

Design and motion control of Autonomous Underwater Vehicle, Amogh

Abstract: Autonomous Underwater Vehicles (AUV) are slow-moving small unmanned robots capable of swimming independently below the water surface on pre-defined mission paths and are commonly used for oceanographic exploration, bathymetric surveys and military applications. With the use of appropriate sensors and equipment, AUVs can perform underwater object recognition and obstacle avoidance. Amogh is a miniature AUV developed at Centre For Innovation (CFI), IIT Madras for AUVSI RoboSub competition. The vehicle has a non-conventional dual hull heavy bottom hydrodynamic design equipped with six thrusters which allow for motion control in 4 degrees of freedom. This paper presents various aspects of the unique design of the vehicle. The performance of a simple PID controller for steady depth and heading control has been discussed. Simulations performed on a decoupled mathematical model of the vehicle are compared against experimental results.

Navigating Autonomous Underwater Vehicles

Abstract: Autonomous Underwater Vehicles (AUVs) are powerful tools for exploring, investigating and managing our ocean resources. As the capabilities of these platforms continue to expand and they continue to mature as operational assets, navigation remains a fundamental technological component. This chapter presents a road map for the vehicle designer to aid in integrating the latest navigation methods into new platforms for science, industry and military platforms. Along the way, we point to emerging needs where new research can lead directly to an expansion of the operational abilities of these powerful tools. To accomplish this we start by describing the problem, explaining the needs of vehicle users and the challenges of autonomous localization. Next we explain the state of practice, how operational assets currently solve this difficult problem. To expand this explanation we present new research targeted at helping AUV builders to make the complex tradeoffs in creating a platform with the appropriate navigation solution. We conclude with an overview of the latest research and how these advances might soon become available for AUV operations in new environments such as the littoral zone, at the poles and under-ice. Throughout this chapter we attempt to reach across the disciplinary boundaries that separate the researcher from the operator.

The Autonomous Conductivity-Temperture Vehicle: First in the Seashuttle Family of Autonomous Underwater Vehicle's for Scientific Payloads

Abstract: The Mark 38 miniature, mobile, sonar target, originally developed for the Navy in 1973 as an expendable training aid for sonar operators, has been redesigned and reconfigured as a robotic underwater vehicle to carry scientific instruments for ocean research. The basic vehicle, named the SEASI-IUTTLE, is nominally 132 cm long, 8.9 cm in diameter and houses a microprocessor controlled guidance system that allows the vehicle to actively position its elevators and rudders in response to data from heading, pitch, roll, and pressure sensors. The vehicle can be programmed to follow complicated prescribed courses of action in five modes of operation: launch, mission, recovery, homing and homing search. It has a nominal speed of 4 kts, an endurance of 2 hrs, and depth tolerance to 250m. The vehicle is equipped with a homing system that returns it to an acoustic beacon, usually deployed at its launch point, at the end of its mission. The SEASHUTTLE provides power and control via a serial interface for instrumentation packages. The SEASHUTTLE has been fitted with a SeaBird CTD for measurements beneath the Arctic ice pack.