iRobot Seaglider

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

Nessie III Autonomous Underwater Vehicle for SAUC-E 2008

Abstract: The Nessie III autonomous underwater vehicle was designed and built in the Ocean Systems Laboratory at Heriot-Watt University to compete in the 2008 Student Autonomous Underwater Challenge ‐ Europe competition. Employing a robust, modular hardware and software design the vehicle was able to successfully complete all of the tasks set out in the competition, and will serve as an excellent platform for further research and development. This paper describes the Nessie III autonomous underwater vehicle (AUV) developed at the Ocean Systems Laboratory at Heriot-Watt University. The vehicle was designed to compete in the 2008 Student Autonomous Underwater Challenge Europe (SAUC-E) competition held at the IFREMER deep wave basin near Brest, France. Section II describes the vehicle hardware, and section III covers the software architecture.

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.

Underwater topography measurement and observation in Southwest Taiwan using unmanned underwater vehicles

Abstract: With the depletion of land resources, marine resources development and utilization become increasingly apparent. Accompanied by the development of marine resources from nearshore extension to the deep ocean, Unmanned Underwater Vehicles (UUVs) become key instruments. Generally, UUVs include autonomous and tethered types; each has its advantages and disadvantages. Through the use of combined vehicle systems, we could take advantages of both systems. With the recent advent of seafloor observatories, deep submergence science is poised to enter a new research era where scientists will gain a more detailed understanding of various seafloor features. In this study, the Autonomous Underwater Vehicle (AUV) path planning in west Good Weather Ridge (119 55', 22 15') with the multi-beam echo sounder to obtain underwater topography. In order to observation the environment, the Remotely Operated Vehicle (ROV) is hired to carry out the terrain image at 1350m water depth in detailed. This experience will help to build future underwater investigation capabilities.