Intervention AUV

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

Experiment of robofish aided underwater archaeology

Abstract: Bionic propulsive mechanism is a hot research topic in robotics field. Robofish, as an ultimate carrier of the research results, should exhibit its advantages in practice. First, the requirements of underwater archaeology to underwater vehicles are briefly analyzed. Then the feasibility of SPC-II robofish to perform underwater task is explained in velocity, maneuverability, comparison with UUV (unmanned underwater vehicle), etc. A scheme for underwater archaeology assisted by SPC-II based on hovering dive is presented. Experiments validate this scheme that makes up to SPC-II for lack of dynamic positioning and supplies reference to future research

Planning inspection tasks for AUVs

Abstract: Underwater installations require regular inspection and maintenance. In the EU FP7 project 288273, PANDORA, we seek to perform these tasks using autonomous underwater vehicles, achieving persistent autonomous behaviour in order to avoid the need for frequent human intervention. In this paper we consider one aspect of this problem, which is the construction of a suitable plan for a single inspection tour. Although we assume that some knowledge of the environment is given (a blueprint of the expected structures), we consider the problems of adapting to discoveries of modified structures (which could be a consequence of unrecorded engineering work or of shifting environmental conditions) and both planning and replanning suitable inspection missions. We demonstrate that these missions can be performed in a simulation and that performance is suitable for deployment in the proposed setting.

Experimental analysis and implementation of redundant thrusters for underwater robots

Abstract: This paper identifies the key issues in the empirical implementation of redundant marine thrusters for two different autonomous underwater vehicles of different designs, so as to maximize the effectiveness for fine motion control. A crucial factor in the development of a precision control scheme is the thorough understanding of the system geometry. Other critical elements include the contribution of the thruster amplifier gains to the steady state response of the thrusters, and the influence of the power source on system performance. These findings are proven through experimental analysis and verification.

Autonomous networked anti-submarine warfare research and development at CMRE

Abstract: CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea decision support tested through an ambitious seagoing experimental program and demonstrated during NATO ASW exercises. In this paper the various scientific aspects of the program are briefly outlined and some recent experimental results are shown.