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The capital cost of autonomous underwater vehicles (AUVs) is still prohibitive for wide spread mass adoption. To address this, the ecoSUB programme is developing small low-cost reusable AUVs designed to minimize platform cost while acquiring measurements of essential physical and biogeochemistry ocean variables for scientific or industrial applications. This paper describes: the agile design methodology...
This paper introduces Autosub Long Range 1500, the latest addition to the Autosub family of AUVs, designed built and operated by the National Oceanography Centre, UK. The vehicle is currently in advanced stages of development, with a prototype and sea-trials planned for early 2018. Following the trials, the vehicle will begin a full programme of marine science activities from 2019 onwards. This paper...
It is well-known that autonomous underwater vehicle (AUV) missions are a challenging, high-risk robotics application. With many parallels to Mars rovers, AUV missions involve operating a vehicle in an inherently uncertain environment of which our prior knowledge is often sparse or low-resolution. The lack of an accurate prior, coupled with poor situational awareness and potentially significant sensor...
This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability...
Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience. This paper introduces measures...
A power source sizing methodology for a hybrid fuel cell/battery powered domestic ferry is presented in this paper. The sizing objective in this study is to minimize both the system first and operational costs, taking into consideration maintenance and replacement costs of the fuel cell and battery systems. According to the ferry power requirement, different combinations of fuel cell and battery blocks...
In 2014, funded by the European Commission through the Marie Curie Programme, ten leading European research institutes and companies in underwater robotics formed the ROBOCADEMY Initial Training Network (ITN). The objective of the network is to educate young researchers from Europe and abroad in the development and application of underwater robots. The ROBOCADEMY training programme comprises of scientific...
For an AUV to perform a long-range mission with its maximum endurance, its energy consumption during transit must be kept to a minimum. This paper presents an improved cost function for a grid-based genetic algorithm (GA) path planning in 2D static environments. The proposed function consists of energy consumption terms that are estimated according to dynamics of a hover-capable AUV — notably Delphin2...
The purpose of this paper is to provide guidance for operators on suitable spacings for multiple vehicle missions. This paper then investigates the combined drag of a pair of towed prolate spheroids for the length-Reynolds Number of 3.2×106. The model has a length-diameter ratio of 6∶1. A series of configuration of a pair of spheroids is simulated by varying both longitudinal and transverse spacing...
In this paper a depth and pitch controller for a hover-capable AUV is designed and implemented in simulation. The effect on controller performance of random Gaussian noise on the feedback signals is evaluated. It has been shown that very small levels of measurement noise will result in the controller performance degrading substantially and behaving in an erratic fashion. A polynomial type filter has...
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