Download or read book Autonomous Underwater Vehicle AUV for the Study of Coastal and Upper Ocean Processes at the Woods Hole Oceanographic Institution written by and published by . This book was released on 2007 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: We have acquired a custom REMUS Autonomous Underwater Vehicle for use in coastal and shelfbreak environments. During the past two years, we have operated the vehicle in a wide variety of oceanographic settings including the shelfbreak off New Jersey and New England, the Arctic coast near Barrow Alaska, Glove's Reef off Belize, and Vineyard Sound, Massachusetts. The vehicle capabilities have been enhanced to include an Inertial Navigation System, GPS/Iridium communications, and a SeaBird CTD. We have recently completed a study of cooling of a coastal current east of Cape Cod in winter and two manuscripts will result from this work. The vehicle was also used in the AWACS experiments off New Jersey and New England, providing the first deployment of an AUV in the shelfbreak front.
Download or read book Undersea Vehicles and National Needs written by National Research Council and published by National Academies Press. This book was released on 1996-12-19 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Download or read book Design Considerations for Engineering Autonomous Underwater Vehicles written by and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work was funded by the NSF Center for Subsurface Sensing and Imaging Systems (CenSSIS) Engineering Research Center (ENC) grant no. EEC-99868321.
Download or read book Technology and Applications of Autonomous Underwater Vehicles written by Gwyn Griffiths and published by CRC Press. This book was released on 2002-11-28 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th
Download or read book Autonomous Underwater Vehicle written by Fouad Sabry and published by One Billion Knowledgeable. This book was released on 2024-06-19 with total page 83 pages. Available in PDF, EPUB and Kindle. Book excerpt: What is Autonomous Underwater Vehicle An autonomous underwater vehicle (AUV) is a robot that travels underwater without requiring continuous input from an operator. AUVs constitute part of a larger group of undersea systems known as unmanned underwater vehicles, a classification that includes non-autonomous remotely operated underwater vehicles (ROVs) controlled and powered from the surface by an operator/pilot via an umbilical or using remote control. In military applications an AUV is more often referred to as an unmanned undersea vehicle (UUV). Underwater gliders are a subclass of AUVs. How you will benefit (I) Insights, and validations about the following topics: Chapter 1: Autonomous Underwater Vehicle Chapter 2: Underwater glider Chapter 3: Monterey Bay Aquarium Research Institute Chapter 4: Unmanned underwater vehicle Chapter 5: Kongsberg Maritime Chapter 6: Seaglider Chapter 7: Uncrewed vehicle Chapter 8: Explorer AUV Chapter 9: AUV-150 Chapter 10: Sentry (AUV) (II) Answering the public top questions about autonomous underwater vehicle. Who this book is for Professionals, undergraduate and graduate students, enthusiasts, hobbyists, and those who want to go beyond basic knowledge or information for any kind of Autonomous Underwater Vehicle.
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Download or read book Underwater Out of Sight written by Nicholas R. Rypkema and published by . This book was released on 2019 with total page 277 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Earth's oceans holds a wealth of information currently hidden from us. Effective measurement of its properties could provide a better understanding of our changing climate and insights into the creatures that inhabit its waters. Autonomous underwater vehicles (AUVs) hold the promise of penetrating the ocean environment and uncovering its mysteries; and progress in underwater robotics research over the past three decades has resulted in vehicles that can navigate reliably and operate consistently, providing oceanographers with an additional tool for studying the ocean. Unfortunately, the high cost of these vehicles has stifled the democratization of this technology. We believe that this is a consequence of two factors. Firstly, reliable navigation on conventional AUVs has been achieved through the use of a sophisticated sensor system, namely the Doppler velocity log (DVL)-aided inertial navigation system (INS), which drives up vehicle cost, power use and size. Secondly, deployment of these vehicles is expensive and unwieldy due to their complexity, size and cost, resulting in the need for specialized personnel for vehicle operation and maintenance. The recent development of simpler, low-cost, miniature underwater robots provides a solution that mitigates both these factors; however, removing the expensive DVL-aided INS means that they perform poorly in terms of navigation accuracy. We address this by introducing a novel acoustic system that enables AUV self-localization without requiring a DVL-aided INS or on-board active acoustic transmitters. We term this approach Passive Inverted Ultra-Short Baseline (piUSBL) positioning. The system uses a single acoustic beacon and a time-synchronized, vehicle-mounted, passive receiver array to localize the vehicle relative to this beacon. Our approach has two unique advantages: first, a single beacon lowers cost and enables easy deployment; second, a passive receiver allows the vehicle to be low-power, low-cost and small, and enables multi-vehicle scalability. Providing this new generation of small and inexpensive vehicles with accurate navigation can potentially lower the cost of entry into underwater robotics research and further its widespread use for ocean science. We hope that these contributions in low-cost underwater navigation will enable the ubiquitous and coordinated use of robots to explore and understand the underwater domain.
Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.
Download or read book Underwater Vehicles written by Alexander Inzartsev and published by BoD – Books on Demand. This book was released on 2009-01-01 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.
Download or read book Autonomous Underwater Vehicle Navigation and Mapping in Dynamic Unstructured Environments written by Clayton Gregory Kunz and published by . This book was released on 2012 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a system for automatically building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of magnitude, while fusing bathymetric information from acoustic ranging sensors with visual texture captured by cameras. As part of the mapping process, several internal relationships between sensors are automatically calibrated, including the roll and pitch offsets of the velocity sensor, the attitude offset of the multibeam acoustic ranging sensor, and the full six-degree of freedom offset of the camera. The system uses pose graph optimization to simultaneously solve for the robot's trajectory, the map, and the camera location in the robot's frame, and takes into account the case where the terrain being mapped is drifting and rotating by estimating the orientation of the terrain at each time step in the robot's trajectory. Relative pose constraints are introduced into the pose graph based on multibeam submap matching using depth image correlation, while landmark-based constraints are used in the graph where visual features are available. The two types of constraints work in concert in a single optimization, fusing information from both types of mapping sensors and yielding a texture-mapped 3-D mesh for visualization. The optimization framework also allows for the straightforward introduction of constraints provided by the particular suite of sensors available, so that the navigation and mapping system presented works under a variety of deployment scenarios, including the potential incorporation of external localization systems such as long-baseline acoustic networks. Results of using the system to map the draft of rotating Antarctic ice floes are presented, as are results fusing optical and range data of a coral reef.
Download or read book Verification of a 6 degree of Freedom Simulation Model for the REMUS AUV written by Timothy Jason Prestero and published by . This book was released on 2001 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of each vehicle system represents a new challenge. Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS vehicle, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. This thesis describes the derivation of these coefficients in detail. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then checked against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle.
Download or read book Autonomous Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles written by Stephanie M. Petillo and published by . This book was released on 2015 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment as Earth's climate changes and natural disasters occur has increased significantly in the last decade. As such, this thesis proposes to develop a method for single and multiple AUVs to collaborate autonomously underwater while autonomously adapting their motion to changes in their local environments, allowing them to sample and track various features of interest with greater efficiency and synopticity than previously possible with preplanned AUV or ship-based surveys. This concept is demonstrated to work in field testing on multiple occasions: with a single AUV autonomously and adaptively tracking the depth range of a thermocline or acousticline, and with two AUVs coordinating their motion to collect a data set in which internal waves could be detected. This research is then taken to the next level by exploring the problem of adaptively and autonomously tracking spatiotemporally dynamic underwater fronts and plumes using individual and autonomously collaborating AUVs.
Download or read book Distributed Autonomy and Formation Control of a Drifting Swarm of Autonomous Underwater Vehicles written by Nicholas Rahardiyan Rypkema and published by . This book was released on 2015 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in autonomous underwater vehicle (AUV) technology have led to their wide-spread acceptance and adoption for use in scientific, commercial, and defence applications in the underwater domain. At the same time, research progress in swarm robotics has seen swarm intelligence algorithms in use with greater effect on real-world robots in the field. A group of AUVs utilizing swarm intelligence concepts has the potential to address issues more effectively than a single AUV, and such a group can potentially open up new areas of application. Examples include the monitoring and tracking of highly dynamic oceanographic phenomena such as phytoplankton blooms and the use of an AUV swarm as a virtual acoustic receiver for sea-bottom seismic surveying or the monitoring of naturally occurring acoustic radiation from cracking ice. However, the limitations of the undersea environment places unique constraints on the use of existing swarm robotics approaches with AUVs. In particular, algorithms must be distributed and robust in the face of localization error and degraded communications. This work presents an investigation into one particular swarm strategy for a group of AUVs, termed formation control, with consideration to the constraints of the underwater domain. Four formation control algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. This metric is used in conjunction with a measure of formation energy expenditure to compare the efficacy of each behaviour during construction of a desired formation, and formation maintenance while it drifts in ocean currents. This metric is also used to compare robustness of each algorithm in the presence of vehicle failure and changing communication rate.
Download or read book Annual Report written by Woods Hole Oceanographic Institution and published by . This book was released on 2006 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology June 2 and 3 1992 Washington DC USA written by Oceanic Engineering Society (U.S.) and published by . This book was released on 1992 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
