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Autonomous Underwater Vehicles (AUVs) have been widely used in assisting scientific operations. They can increase the scientific output by performing operations in a cost effective and safe manner. This paper focuses in the underwater archaeology scientific discipline. It presents the distributed high level architecture developed by the Heriot Watt University Ocean Systems Laboratory (HWUOSL) in the...
The work presented in this paper focuses on addressing vehicle hardware faults and changes in high level priorities during Mine Countermeasures (MCM) missions with Autonomous Underwater Vehicles (AUVs). The approach utilizes ontologies for representing knowledge about the vehicle and its operational environment and is based on the KnowRob system. Reasoning on the vehicle capabilities and consequently...
In the present paper, a hybrid architecture based on multi-agent systems is proposed, where it is included a module for formal evaluation. This module, allows the processes verification involved in the level/layer/environment steps. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions...
100s of thousands of kilometres of pipelines run on the ocean floor all over the globe. They represent the main oil & gas means of transportation from offshore structures. They are expensive and critical assets for production companies. Therefore their integrity as a structure is a key element for sustainable ocean exploitation. Blockages caused by wax or hydrates are serious production problems...
In this paper we discuss a micro submersible robot which can move across an underwater target surface at proximity (∼1mm) using the stabilizing effects of the boundary layer interaction with the external surface. Underwater surface and subsurface inspection is of immense value whether in infrastructure maintenance like oil pipelines, ship bottoms or in security and defense, for recognizing and identifying...
Autonomous Underwater Vehicles (AUVs) are a useful tool for science and industry. They significantly reduce the risk to humans in operations in hazardous and high cost situations. The use of multiple AUVs can enhance the operational capabilities by introducing specialisation of AUV capabilities and parallelising task execution. The coordination of the multi-AUV team requires communication among its...
Remotely operated vehicles (ROVs) have been used for various underwater tasks such as mapping, inspection, welding, and maintenance of equipment. Owing to the strong demand for downsizing and cost-effective operation in relevant markets, the technologies developed for ROVs have improved rapidly. Nevertheless, several difficulties prevent achieving the requirements of a high-performance control system...
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