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For the high-speed and light Autonomous Underwater Vehicle (AUV), it is moving freely, and the speed and attitude are in dynamic movement. And for the micro electromechanical system (MEMS) technology based low-cost strapdown inertial navigation system (SINS), over too large bias drift errors not only made the system functions nonlinear, but also made the estimation for misalignment angle converge...
This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for Systems and Robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine...
Ocean has always intrigued mankind. Presently, ocean inspection, monitoring and exploitation has been achieved with the development of ocean technology. The seafloor observatory network, a mature and all-weather fixed observatory platform, makes it possible to monitor ocean environment in long term and in real time, while its range of observation is limited by cable. A compact Autonomous Underwater...
Underwater navigation that relies solely on dead reckoning suffers from unbounded position error growth. In traditional positioning method, the cost and trouble of deploying, recovering, and assembly have become insuperable obstacle. Based on combination SLBL with an Argo float, a new positioning method of autonomous navigation is proposed in the paper. In order to improve the ranging accuracy, with...
A hybrid underwater glider(HDUG) is developed based on a folding propeller. The blades of the propeller can fold and unfold according to the motor work or not. When it stop spinning, the blades will come to a rest position. The hydrodynamic performance will vary with the position of the blades, thus the transit efficiency of the HDUG will also vary. So there must be an optimal transit efficiency for...
The bio-inspired geomagnetic navigation is inspired from animals navigation behavior which dispense with the priori geomagnetic data. It can be employed by AUV for a navigation task that arrived to targeting point which is characterized with geomagnetic multi-parameter through magnetotaxis searching behavior. However, the geomagnetic anomalies area could form an extreme value region and disturb the...
The Automatic Identification System is an electronic system enabling vessels to send localization messages. Those messages are used for several uses such as fleet control, traffic control or boarding prevention. Sent messages contain errors, falsifications and undergo spoofing due to the unsecured channel of transmission, and that weakens the whole system and the safety of navigation. This paper presents...
A new small-sized autonomous surface vehicle actuated by a water-jet has been developed at INESC TEC for search and rescue of victims at sea. This paper describes the vehicle main components and presents the control and guidance laws governing the motion and enabling it to perform line-following and target tracking missions. Results from field trials are presented, demonstrating the capabilities and...
This paper proposes a method for attitude estimation that utilizes the depth measurement as well as the MEMS-AHRS (Micro-electromechanical systems Attitude Heading Reference System). Estimating attitude in real-time is crucial for navigation of an unmanned underwater vehicle since path planning, trajectory tracking, and collision-avoidance is based on the attitude information. Many of the attitude...
This paper presents results of the INESC TEC participation in the maritime environment (both at surface and underwater) integrated in the ICARUS team in the euRathlon 2015 robotics search and rescue competition. These relate to the marine robots from INESC TEC, surface (ROAZ USV) and underwater (MARES AUV) autonomous vehicles participation in multiple tasks such as situation assessment, underwater...
In this article we discuss the use of LBL acoustic networks for operations with multiple AUVs. Differently from standard LBL configurations, we propose to use the One-Way-Travel-Time of acoustic signals to compute the ranges between all the devices. Moreover, we derive the suitable algorithms for both the navigation of multiple vehicles, but also their external tracking. Experimental results are provided...
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...
Robust and accurate navigation of underwater vehicles is an essential cornerstone for mission success. Integrative techniques, e.g., using inertial navigation or Doppler velocity logs (DVL), can show significant drift. Even absolute input, such as GNSS input or magnetometers, can either be biased by surrounding structures or very noisy. For good navigation performance in critical maneuvers close to...
This paper designed a control system of small autonomous underwater vehicle(AUV). A distributed control architecture that is MOOS-IvP is applied in this control system. Using this control architecture, there are distribute and modular characteristic in this control system. It comprises of the sensor module, the propulsion module, the fault detection module, the data log module, the device initialize...
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