Showing papers on "iRobot Seaglider published in 2010"

Mechanical Design of a Self-Mooring Autonomous Underwater Vehicle

Abstract: The Virginia Tech self-mooring autonomous underwater vehicle (AUV) is capable of mooring itself on the seafloor for extended periods of time. The AUV is intended to travel to a desired mooring location, moor itself on the seafloor, and then release the mooring and return to a desired egress location. The AUV is designed to be an inexpensive sensor platform. The AUV utilizes a false nose that doubles as an anchor. The anchor is neutrally buoyant when attached to the AUV nose. When the vehicle moors it releases the false nose, which floods the anchor making it heavy, sinking both the anchor and AUV to the seafloor. At the end of the mooring time the vehicle releases the anchor line and travels to the recovery location. A prototype vehicle was constructed from a small-scale platform known as the Virginia Tech 475 AUV and used to test the self-mooring concept. The final self-mooring AUV was then constructed to perform the entire long duration mission. The final vehicle was tested successfully for an abbreviated mission profile. This report covers the general design elements of the self-mooring AUV, the detailed design of both the prototype and final AUVs, and the results of successful field trials with both vehicles. Acknowledgments I would like to thank the entire Self-Mooring AUV team at Virginia Tech. Developing and designing the new AUV was a collaborative effort and would not have been possible without everyone who was involved. First, Dr. Wayne Neu and Dr. Daniel Stilwell deserve a great deal of thanks for organizing and advising the team. Thanks to Brian McCarter for basically handling all the electronics of the AUV by himself. I would also like to thank Tim Pratt and Chris Bright for their help with the mechanical design. Thanks to Richard Duelley for designing the propulsion system for the final AUV, as well as handling all the seal testing. Jason Mims also deserves a big thanks for his advice on design and his help with the structural analysis. All photos and figures are owned by the Autonomous Systems and Control Laboratory at Virginia Tech.

The integrated navigation system of an autonomous underwater vehicle and the experience from its application in high arctic latitudes

Abstract: The experience gained in the creation and practical application of an integrated navigation system for an autonomous underwater vehicle, performing programmed missions under difficult and extreme environmental conditions, is considered. The content, characteristics, and methods for correcting navigational data obtained with the help of onboard autonomous, hydroacoustic, and satellite systems are discussed. The results from full-scale marine tests of a navigational complex of the Klavesin underwater vehicle and the results of its operational testing when working under ice in high Arctic latitudes during investigation of Lomonosov Ridge are presented.

Unmanned underwater vehicle

Abstract: The invention relates to a unmanned underwater vehicle 1 with two or more hulls 2, 3, comprising a means for crane deployment and recovery. To provide a small, but efficient unmanned underwater vehicle, which can be launched or recovered safely and easily the invention provides a framework 4 comprising at least one cross bar 12, 13, 14, 15 connected to the hulls 2, 3 at its endings 22, 23 and comprising two pivotable levers 16, 17 connected to each other by a main joint 18, 19, 20, 21.

로봇 지능 구현을 위한 수중 로봇의 제어 및 센서 시스템 설계

Abstract: An autonomous underwater robot have been considered for doing underwater missions as an alternative of remotely operated vehicle which is able to carry complex missions by operator but, which suffers from long cable, small operating range, and mother ship as drawbacks of ROV. Unfortunately, right now, intelligence of underwater robot is not enough to complete underwater mission like ROV. That's why autonomous underwater robots are working for relatively simple tasks such as underwater sampling, surveying and characterization of resources. For this, Korea Ocean Research & Development Institute (KORDI) just started a five-year project named “Development of technologies for an underwater robot based on artificial intelligent for highly sophisticated missions” from 2010 to study underwater robotic intelligence systematically. As the first year of the project, we are currently developing an underwater robot. This paper briefly explains its control system structure and sensor systems. These systems are designed for AI based underwater environment cognition and tracking, in particular, underwater vision, underwater acoustic signal analysis, obstacle avoidance, and target tracking.

Ocean E-Field Measurements Using Gliders

Abstract: : Our long-term technical goal is to determine the limits of applicability of ocean electric field for vessel detection, classification and location on mobile and stationary platforms Our primary objectives are to improve the sensitivity, size, power and usefulness of ocean electric field sensor systems on ocean-going, autonomous, mobile platforms Our approach is to design, install and operate E-field sensor components on the UW Seaglider