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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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Journal Article
01 Jan 2003-Robot
TL;DR: A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given, and results from computer simulation show that the precision of the fault- tolerance control approach is satisfactory.
Abstract: In order to insure that autonomous underwater vehicle completes the tasks successfully in unstructured and hazardous oceanic environment with the high pressure and low visibility, an efficient and effective fault-tolerant control system becomes imperative for AUVs. This paper discussed thrust fault-tolerant control technology for ZHISHUI Ⅲ AUV, designed at Harbin Engineering University. A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given. Results from computer simulation show that the precision of the fault-tolerant control approach is satisfactory.

8 citations

Book ChapterDOI
01 Jan 2009
TL;DR: To solve inspection tasks AUV should be equipped with reliable detection systems for inspected object recognition, and usually only one instrument, which AUV is equipped with, is used for object detection.
Abstract: Regular inspection of underwater communications (pipelines and cables) is actual problem of modern oil and gas industry. Specially equipped vessels, towed underwater devices and remote operated vehicles /ROV/ are applied for these purposes as usually, but quality of acquired data does not always allow revealing emergencies at the proper time. “Spot” inspections by ROVs give difficultly comparable data (Baker, 1991; Murray, 1991). The perspective solution of the problem is autonomous underwater vehicles /AUV/ application as “the intellectual carrier” of research equipment (Evans et al., 2003; Kojima et al., 1997). According (Ageev, 2005) the main goals of pipeline and cables inspection are: 1. more accurate position determination (searching and tracking); 2. pipe sagging and freespan detection and measurement; 3. terrain survey on each side of communication by means of high frequency side scan sonar /HF SSS/ and detection of extraneous objects; 4. detection of damages; 5. leakage detection of transported substances (for pipelines). The pipeline and cable inspection by means of AUV includes two stages: preliminary (communication search and detection) and the main (motion along the communication with carrying out of necessary measurements, i.e. tracking). Exact mutual orientation of AUV and inspected object is required in real time during the tracking stage. To solve inspection tasks AUV should be equipped with reliable detection systems for inspected object recognition. Video, electromagnetic and echo-sounder data can be used for these purposes. Each of these devices demonstrates optimal results for certain classes of objects in appropriate conditions. For example, metal pipelines have the significant sizes and can be detected by all listed above devices. While underwater cables have a small diameter, because of this applicability of acoustic methods is limited (Petillot et al., 2002). Process of communications search and detection is complicated, as a rule, with a poor visibility of the given objects (strewed with a ground, silted or covered by underwater flora and fauna). Experiments with the use of AUV for inspection of underwater communications have been carried out for a long time. Usually only one instrument, which AUV is equipped with, is used for object detection. O pe n A cc es s D at ab as e w w w .in te ch w eb .o rg

8 citations

Patent
21 Sep 2016
TL;DR: In this paper, a stackable underwater vehicle is described that is stackable with other like underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water.
Abstract: Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

8 citations

01 Jan 2005
TL;DR: In this article, autonomous underwater vehicles (AUVs) have been playing an increasingly important role in scientific survey and military applications in underwater environments, e.g. mine search, under-ce exploration and underwater operation.
Abstract: Since mid-1990s, autonomous underwater vehicles (AUVs) have been playing an increasingly important role in scientific survey and military applications in underwater environments. This paper illustrates a few new and challenging applications of AUVs in western countries e.g. mine search, under-ce exploration and underwater operation. Moreover the key technologies, i.e. energy storage, underwater proof against pressure and sealing, and control and navigation, are reviewed.

8 citations

Proceedings ArticleDOI
20 Apr 2004
TL;DR: In this article, an underwater video mosaicing system using an autonomous underwater vehicle (AUV) is described. But the task of underwater video mosaic image acquisition is performed by the human operators in the support vessels using remotely operated vehicles (ROVs) and towed fishes.
Abstract: Underwater mosaic images have important information to survey the ocean floor, creatures, inspection of underwater structures, etc. Usually, the image acquisition of the underwater environment is performed by the human operators in the support vessels using remotely operated vehicles (ROVs) and towed fishes. However, the tasks have difficulties caused by their operating environment and poor visibility. This paper describes an underwater video mosaicing system using an autonomous underwater vehicle (AUV).

8 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202311
202220
20211
20201
20192
20183