Showing papers on "iRobot Seaglider published in 2002"

Autonomous Buoyancy-Driven Underwater Gliders

Abstract: A class of small (50 kg, 2 m length), reusable autonomous underwater vehicles capable of operating at speeds cm/s with ranges several thousand kilometers and durations of months has been developed and tested. The vehicles, autonomous profiling floats with wings, execute sawtooth patterns between the surface, where they are located and com to shore, and depths of O(1000 m). These vehicles are commanded remotely and report results to shore in near real tim ent approaches to the various design issues are embodied in the vehicles Spray, Seaglider and Slocum models desc including batteryand thermal-powered propulsion, different depth and speed capabilities, diverse hydrodynamic appro reducing drag and gliding control, various communication schemes, and a range of sensors. These approaches are des examples of completed scientific missions are given. l., e st els. h ic es rs s, ing ult g, em cg on the ive is cles an be an eing ean urand the lidin

Development of autonomous underwater vehicles in Japan

Abstract: In the hope of expanding underwater observation and research, the Institute of Industrial Science (IIS) at the University of Tokyo started extensive R&D on autonomous underwater vehicle (AUV) in 1984. IIS has constructed nine vehicles, including three ocean-going vehicles, one lake survey vehicle and various testbed vehicles. The R-One Robot is equipped with a closed-cycle diesel engine system and it successfully completed a 12-h operation of long-range autonomous diving in the Pacific Ocean in 1998. Utilizing the testbed robots, many intelligent systems, especially those for underwater vision systems, have been developed. The success of these AUVs at the IIS has led to the establishment of the 'Underwater Technology Research Center' which opened on 1 April 1999. This new center also plans to collaborate both nationally and internationally with other facilities for further R&D of AUVs and other new underwater observation technologies.

Measurement Methods and Analysis: Forces on Underwater Gliders

Abstract: : Autonomous Underwater Vehicles are unmanned vessel that can used in many applications including offshore oil industry, Marine biology research, and salvaging in an effort to replace divers. As today's Naval Explosive Ordinance Disposal Units look for innovative, technological developments in minefield clearance and related missions clearing unexploded ordinance, the further employment of autonomous unmanned vehicles (AUV) is under strong consideration. Instead of developing systems of high complexity and cost, it is worthwhile to investigate the development of low-cost AUVs with more singular and simplistic missions. This research investigates the design of a miniature efficient underwater glider, of dimensions consistent with the proposed mission. Underwater gliding refers to notion in which the force of gravity provides propulsion and steering is maintained by control fins or by controlling the location of the center of gravity. Wings on the vehicle support its weight underwater and subsequently allow horizontal notion. Different configurations of underwater vehicles will be designed in this study in order to develop a methodology for testing and modeling general underwater gliding behavior. The shape of the wings, their angle of attack, body shape, body size, and vehicle velocity will be factors used in formulating efficient underwater vehicle designs. In this paper, the research describes the design and preliminary analysis of several model underwater vehicles, consisting of a cylindrical body and configurable wings, which were built to demonstrate and test dynamics and control of underwater gliding. This Trident Project can later be expanded to build a prototype autonomous underwater glider after the precepts of underwater gliding are understood.

Research on long range autonomous underwater vehicle

Abstract: We have mainly researched necessary technologies with respect to long range autonomous underwater vehicle (LAUV), described some realizable methods about navigation ,energy and control systems, and drawn some experiment results, provided experiment data and theoretic results for improvement of LAUV in the future.