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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...
The seabed resident event driven profiling system (SREP) described here offers a novel, optimized approach to profiling in coastal waters from seabed to sea surface during the rough seas encountered in the southwest monsoon season (June–Sept). It consists of a winch system and a tethered instrumented profiler. The winch system launches and retrieves the profiler. The tethered profiler is programmed...
For long-term monitoring, the authors are developing a prototype underwater vehicle that can sleep on the seafloor or sleep while drifting underwater. Using these functions, it can carry out long-term monitoring of ocean environments while remaining in a designated area. Recent landing-sleep and drifting-sleep experiments yielded good results. Results of these experiments reported herein demonstrate...
Risk analysis of an Autonomous Surface Craft (ASC) is a very important subject since it is closely related to the safety of an ASC operating in harsh ocean environments. In this study, we provide a detailed analysis of the primary disturbance of ocean waves and its influence on an ASC's roll motion. A conventional decoupled nonlinear roll motion model has been chosen and through experiments the roll...
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...
The increasing level of commercial marine activity in high latitudes creates an ever growing risk of oil spills. Even in logistically accessible, ice-free oceans, characterizing the extent and nature of a spill can be challenging as highlighted by the Deepwater Horizon incident. We propose to develop an AUV-based approach inspired by an existing small, long-range system, called the Tethys Long-Range...
Autonomous underwater vehicles (AUVs) are increasingly being deployed in the study of inshore coastal marine habitats. Combined with shipboard systems, scientists are able to make in situ measurements of water column and benthic properties. In CSIRO autonomous gliders are used to collect water column data, while surface vessels are used to collect bathymetry information through the use of swath mapping,...
A Slocum underwater glider is been modified to map the underside of icebergs for monitoring iceberg deterioration off the coast of Newfoundland, Canada. The vehicle is equipped with a mechanical scanning sonar to map the iceberg surface, and a thruster for level-flight at a higher surging speed. In this paper we are presenting a profile-following controller that uses the sonar ranges to compute desired...
Autonomous Underwater Vehicle (AUV) operations are inherently bandwidth limited but increasingly data intensive. This leads to large latencies between the capture of image data and the time at which operators are able to make informed decisions using the results of a survey. As AUV endurance and reliability continue to improve, there is a greater need for real-time data processing to inform on-board...
In recent years, Autonomous Underwater Vehicle (AUV) has received much attention as a tool of ocean survey. One of the method for the efficient of hydrothermal deposits investigation is multiple vehicle operation of AUVs. The aim of our work is to development the small and inexpensive AUV and operate together with other AUVs. This paper introduce the first AUV in our project, and show the result for...
The typical autonomous underwater vehicles (AUVs) are widely used in underwater exploration. However, there are difficulties to use AUVs in constrained environments such as the strong current or poor visibility. In this paper, we proposed the novel design and operation strategy of AUV that can overcome these restricted condition. The proposed AUV is composed by upper and lower body with specific technologies...
This type of vehicle can transform its shape and configuration depending on the task to be performed. Main purpose of AAUV is to complete a mission both on air and underwater. By combining exclusive features of multirotor and AUV research and surveillance tasks become simple. Once setting the GPS coordinates of specified area to be surveyed, the multi rotor vehicle will be activated and transforms...
Advances in computer hardware and sensing technologies have enabled the design and development of low-cost autonomous underwater vehicles (AUVs). The reduced cost of new platforms such as the Bluefin SandShark present the opportunity for more frequent and high-risk AUV-based experiments and reduce the barrier to entry for multi-vehicle operations. The smaller size of these new vehicles compared to...
Towed controlled source electromagnetic systems (CSEM) are used to map subsurface resistivity structure. In 2014 and 2015, Fukada Salvage and Marine Works Co. Ltd and Ocean Floor Geophysics used a towed CSEM system developed by the Scripps Institution of Oceanography to map gas hydrate deposits. Towing the system at a constant depth in terrain with steep bathymetric gradients, such as in the vicinity...
Ocean development has actively progressed in the sea near Japan. However, in marine research, it is impossible for people to work in deep sea because of low temperature, high pressure and so on. We have developed the underwater robot that mimics the quad-rotor helicopter in the past. This robot is capable of performing freely exercise of translation and rotation by controlling the rotational speed...
This work describes the ongoing effort to derive methods to collectively direct a heterogeneous group of vehicles trajectories, velocities, communication rates and sampling rates by the navigational accuracy required, energy consumption, communication performance and observational goals. These methods are being experimentally validated through field trials during the Summer and Fall of 2016. Initial...
Autonomous marine vehicles are becoming essential tools in aquatic environmental monitoring systems, and can be used for instance for data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. In this work, we present an unconventional bio-inspired autonomous robot aimed for execution of such tasks. The Envirobot platform is based on our existing segmented anguilliform...
Object detection and recognition are typically stages that form part of the perception module of Autonomous Underwater Vehicles, used with different sensors such as Sonar and Optical imaging, but their design is usually separate and they are only combined at test time. In this work we present a convolutional neural network that does both object detection (through detection proposals) and recognition...
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