iRobot Seaglider

About: iRobot Seaglider is a research topic. Over the lifetime, 176 publications have been published within this topic receiving 3279 citations.

Autonomous vehicle development for vertical submarine observation

Abstract: This work proposes the development of an ocean observation vehicle This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain the profiles of a water column according to a pre-established plan Its design provides lower production cost and higher efficiency GPS navigation allows the platform to move along the surface of the water while a radio-modem provides direct communication links and telemetry

Development of an Autonomous Underwater Vehicle ISiMI6000 for Deep-sea Observation

Abstract: Gyeong-Mok Lee, Jin-Yeong Park, Banghyun Kim, Hyuk Baek, Sungwoo Park, Hyungwon Shim, Go Choi, Bo-Ram Kim, Han-Goo Kang, Bong-Huan Jun, Pan-Mook Lee*, Phil-Yeob Lee and Hun-Sang Jeong Korea Institute of Ocean Science & Technology, KIOST 1312-32 Yuseong-daero, Yuseong-gu, Daejeon, Republic of Korea 2 R&D Center, Hanwha Corporation 52-1 Woisam-dong, Yuseong-gu, Daejeon, Republic of Korea [E-mail: pmlee@kiost.ac , powerman2@hanwha.co.kr\]

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.