Intervention AUV

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

Performance of the fuel cell underwater vehicle URASHIMA

Abstract: The Japan Agency for Marine-Earth Science and Technology acquired an autonomous underwater vehicle, the URASHIMA, in 2000. It has capacity to cruise for 300 km, and to dive up to 3,500 m depth, and it can approach waypoints correctly using inertial or acoustic navigation during autonomous cruising. Autonomous underwater vehicles are expected to explore environmental problems by measuring various oceanic data. Through sea trials, we have been developing key technologies for the vehicle, such as navigation and power sources. This paper describes the vehicle system and sea trial results.

Autonomous Underwater Vehicle for surveying deep ocean

Abstract: There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. The plan for its development is in several steps. As the first step an AUV, named URASHIMA was built in 1999, and sea trials have been held since 2000. URASHIMA dived to 3,518m depth in 2001. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km. This paper describes outline of the vehicle, presents some experimental results.

AUV and ASV in twinned navigation for long term multipurpose survey applications

Abstract: The coordination between a fleet of ocean automatic vehicles is an interesting area of research. The communication between an Autonomous Underwater Vehicle AUV and in-shore stations is a difficult question. Satellite communications are expensive; they provides only a limited bandwidth and the link is not always guaranteed when it is needed. High speed communications are difficult from underwater vehicles since their antennas are affected by the sea surface conditions when they are on the surface, especially when rough sea conditions are present. Using a Surface Autonomous Vehicle (SAV) in the proximity of the AUV as a coordination station between a Command Center (CC) in shore and the AUV fleet will be an advantage for reaching a good guaranteed link between shore and the individual vehicles. The constraint of avoiding costly satellite communications on AUVs leads to the consideration of using commercial inexpensive communication systems based on UMTS and WIFI protocols, together with inexpensive acoustic underwater devices for range and bearing control and basic communications. In order to be useful for the mission the previously mentioned surface vehicle faces the challenge of operating in a wide range of weather conditions. In this paper a solution is proposed by considering a dual system composed by a SAV and a fleet of AUV in tandem navigation strategy. In order to avoid vehicle damage, malfunction or lose of communication between shore and AUVs, robust and fault tolerant dual system propulsion and a multiple communication platform ASV is proposed.

Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks

Abstract: An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment ...