iRobot Seaglider

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

Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM Phase III-B)

Abstract: : SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Missions) involves the design and fabrication of an underwater vehicle that it is capable of autonomous interventions on the subsea installations, a task usually carried out by ROVs or human divers. The present final report covers the Phase III-C of SAUVIM. This is the conclusive phase of the project, which hosted further major upgrades and, most important, the demonstration of the first fully autonomous underwater manipulation in an unstructured environment. Submerged in the water, in its final demonstration, SAUVIM first performed the self-calibration routine, initializing its sub-systems. After the calibration step, SAUVIM began its pre-given mission -- to search for and tag an underwater object. The object's location was roughly given. Once the vehicle reached the area surrounding the object, it started scanning the area using a DIDSON camera to locate and identify the target. Once the object was detected, the vehicle approached it and positioned itself for optimized manipulation. Then, while the vehicle was floating in the water column, using the unified coordinated motion control of the vehicle and manipulator system, the vehicle performed an autonomous manipulation task by applying a device to the object for tagging. After completing the mission, the vehicle came back to the dock by using feature-based navigation. The whole sequence was autonomously done and the same mission was successfully repeated four times. This demonstration presented a technological breakthrough in the field as autonomous manipulation had been a bottleneck issue for underwater intervention missions.

Study on maritime application of micro autonomous underwater vehicle

Abstract: Because the micro autonomous underwater vehicle (MAUV) which is a kind of the AUV has the superiority in terms of size and cost, the development of the maritime application area as well as the elementary technology such as navigation, guidance and control is important. Study results show that the feasible application area and the necessity of the related technology in the maritime.

Acoustic Seaglider: Philippine Sea Experiment

Abstract: : Within the Ocean Acoustics Deep Water program, the long-term goals are to understand the physics of long-range, broadband propagation in deep water and the effect of oceanic variability on acoustic propagation. The project will seek to develop new techniques and technologies to improve the ability to measure and characterize the highly dynamic ocean environment and understand the effect of ocean variability due to mesoscale eddies, tides, currents, and internal waves on the acoustics. An accurate characterization of the ocean improves the predictability of acoustic propagation through it and, in turn, enables inversions for oceanic properties from acoustic receptions. The long-term goal is to use multiple platforms and techniques, old and new, acoustic and oceanographic, moored and mobile, to sense the ocean environment, and to understand the effect of oceanic fluctuations on deep-water acoustic propagation.

Preliminary Exterior Design and Hydrodynamic Evaluation of a Small-Scale Underwater Glider

Abstract: Autonomous underwater gliders (AUGs) use complex control algorithms to navigate that balance power consumption and adherence to mission parameters. Testing of these algorithms on large scale gliders, such as Deepglider and Seaglider, requires deployments that can be labor and time intensive. We examine the feasibility of using a small-scale glider as a test platform to replicate flight dynamics of traditional gliders. In particular, in this paper, we are demonstrating the experimental determination of the coefficients of lift and drag as parameters in the glider's hydrodynamic model using three different regression methods.

Autonomous Underwater Vehicle Sampling System

Abstract: : The long-term goal of this project is to acquire a deep-diving autonomous underwater vehicle (AUV) for community use.