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The new, unmanned, deep-diving Nereus hybrid vehicle can be configured as a tethered remotely operated vehicle (ROV) using a fiber-optic cable, and it can operate un-tethered as an autonomous underwater vehicle (AUV). During planned autonomous operations and un-tethered ascents, or if the fiber breaks, the vehicle uses an acoustic communication system to allow engineers and scientists at the surface...
This paper reports the results of sea trials of the Nereus hybrid underwater robotic vehicle (HROV) conducted in May and June 2009 in the Challenger Deep of the Mariana Trench, where the vehicle successfully performed scientific observation and sampling operations at hadal depths of 10,903 m. The Nereus underwater vehicle is designed to perform scientific survey and sampling to the full depth of the...
This paper reports an overview of the new Nereus hybrid underwater vehicle and summarizes the vehicle's performance during its first sea trials in November 2007. Nereus is a novel operational underwater vehicle designed to perform scientific survey and sampling to the full depth of the ocean of 11,000 meters - almost twice the depth of any present-day operational vehicle. Nereus operates in two different...
Cooperative missions for Miniature Air Vehicles (MAVs) require accurate position, velocity, and attitude estimates for all MAVs within the group for its successful completion. This paper details a cooperative methodology for MAV navigation in times of Global Positioning System (GPS) outages or in GPS denied areas. In this method, each MAV estimates position, attitude, and velocity of all MAVs in its...
The Hybrid Remotely Operated Vehicle (HROV), being designed and built by Woods Hole Oceanographic Institution (WHOI) with the support of the Space and Naval Warfare Systems Center San Diego (SSC San Diego), will provide a new level of accessibility for deep ocean research. HROV will be primarily an autonomous vehicle but will be reconfigurable to a teleoperated system by the installation of a fiber...
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