iRobot Seaglider

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

Incorporating real-time acoustic ranging and glider-based Doppler measurements to aid vehicle navigation

Abstract: In the summer of 2017, two Seagliders equipped with low frequency acoustic recorders and 1 MHz acoustic Doppler current profilers (ADCPs) were deployed in the Canada Basin as part of a large-scale acoustic tomography experiment. Acoustic tomography sources were moored at approximately 175 m depth within an acoustic duct enabling acoustic transmission to be received at long ranges. The sources transmitted at a center frequency of approximately 250 Hz every four hours, and ranges between the sources and Seaglider were estimated in real time using a WHOI MicroModem. These ranges can be incorporated into an extended Kalman filter for navigation. In addition, glider-mounted upward-looking ADCPs recorded ~26.5 m shear profiles every 15 seconds. These overlapping profiles can be used to estimate (in post-processing) both the local current profile on a per-dive basis and the glider's relative velocity through the water. In real time, the close-range ADCP velocity measurements can be used to estimate the glider's relative (Through The Water, TTW) velocity to improve the glider's subsea position estimate. We will describe our recent developments in using these Doppler measurements to aid glider navigation, comparing the results to previous developments in range-aided navigation.In the summer of 2017, two Seagliders equipped with low frequency acoustic recorders and 1 MHz acoustic Doppler current profilers (ADCPs) were deployed in the Canada Basin as part of a large-scale acoustic tomography experiment. Acoustic tomography sources were moored at approximately 175 m depth within an acoustic duct enabling acoustic transmission to be received at long ranges. The sources transmitted at a center frequency of approximately 250 Hz every four hours, and ranges between the sources and Seaglider were estimated in real time using a WHOI MicroModem. These ranges can be incorporated into an extended Kalman filter for navigation. In addition, glider-mounted upward-looking ADCPs recorded ~26.5 m shear profiles every 15 seconds. These overlapping profiles can be used to estimate (in post-processing) both the local current profile on a per-dive basis and the glider's relative velocity through the water. In real time, the close-range ADCP velocity measurements can be used to estimate the glider's ...

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.

Autonomous tracking and following of sharks with an autonomous underwater vehicle

Abstract: AUTONOMOUS TRACKING AND FOLLOWING OF SHARKS WITH AN AUTONOMOUS UNDERWATER VEHICLE