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The last decade has established the underwater glider as an important platform for oceanographic research. To further the capabilities of glider research three Florida Institute of Technology students have been actively designing a glider that is considerable cheaper than commercial gliders. This vehicle introduces external wing control surfaces for steering and a mechanical buoyancy engine. The aim...
Small, man-portable AUVs now carry out engineering and geophysical survey tasks where previously boat-mount, towed or ROV-mounted sonars would have been required. The commercial use of low-logistics AUVs in the offshore survey industry is expanding rapidly, with several companies now operating small survey AUVs worldwide. This paper describes some of the advances in vehicle and payload technology...
Most of the mixing throughout the world ocean is driven by wind forcing of the ocean surface, which also exerts a controlling influence of the rate of exchange of gases between the atmosphere and the ocean. As part of the UK NERC-funded surface boundary layer consortium “OSMOSIS” we conducted AUV-based observations of near-surface turbulent mixing and bubble entrainment in the Clyde estuary, Scotland,...
the last decade has seen an exponential growth in the legal literature looking at the applicability of the law as it relates to the operational use of Autonomous Underwater Vehicles (AUV). The legal views postulated in this burgeoning body of literature are varied and can be very driven by scenario [e.g. requirement for navigational safety] or by class of AUV operator [defence/academic]. The legality...
This paper presents the design and implementation of control architecture for the ISiMI6000 AUV (Autonomous Underwater Vehicle) which is developing by MOERI-KIOST. The ISiMI6000 AUV is a sea-trial AUV up to the 6,000m depth. The control architecture of the ISiMI6000 AUV is a hybrid architecture consisting of the mission layer, the behavior layer, the logical sensor layer, and the library layer. The...
Global initiatives are underway to establish Ocean Observing Systems (OOS) that can provide society better information on ocean conditions. These observatories include moorings, drifters, floats, and buoyancy gliders. Although gliders have long operational endurance, their reliance on batteries limits sensors payloads, thus some OOS also include autonomous underwater vehicles (AUVs) with active propulsion...
The experimental setup and data from the final demonstration of the FP7 Coordination for Control (C4C) project are presented and discussed in the framework of the control architecture and software implementation developed by the LSTS laboratory from Porto University. The demonstration took place in the Leixões harbor in June 2011 and involved autonomous underwater vehicles, autonomous surface vehicles,...
The Chevron AUV development program has been running since 2007 with considerable success with a long term goal of deploying Field Resident AUV's in our subsea operating assets. The paper will describe some of the successes of the program and the approach Chevron is taking to meet its end goal. The main focus will be to elaborate on technology gaps that have been identified and still require closure.
Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles and to adapt to changes in the ocean floor terrain. A typical mission for an AUV is to inspect a given area using a side scan. It is crucial to maintain a straight line...
This paper presents a control framework for creating a 3D map of flow field dependent physical ocean variables by controlling multiple AUVs to maximize information gain. In this framework a nonlinear Kalman Filter is used to update the noisy measurements from multiple sensors at uncertain positions. First, the area of interest is discretized into a 3D grid. Each grid point has an associated estimate...
In recent years, the use of autonomous underwater vehicles has become increasingly popular for a wide variety of applications. As the cost of deploying a vehicle and the risk of loss or damage are often high, AUV missions typically consist of simple pre-scripted behaviours. Designed to minimise risk to the vehicle and its scientific cargo, these behaviours are inevitably overly-conservative, reserving...
This paper presents a path planning scheme for a class of torpedo-type AUVs in unknown environments. Consider the case where an underactuated vehicle (similar to a carlike robot) is travelling in completely unknown environments. In this case, due to deficiency of necessary information, quite number of graph generation and corresponding graph searching methods cannot be directly applicable. In this...
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently...
Inspired by the command structure of a manned submarine, we have developed a Command and Control (C2) system for autonomous underwater vehicles (AUVs) that allocates mission, navigation and vehicle tasks to individual self-contained agents, each with their own responsibilities and behaviors. These agents are distributed over different levels of control hierarchies where they behave deliberately at...
This paper presents some of the challenges related to multi-robot cooperation for the marine environment. Special attention is given to the world representation topic and to the communication challenges. Ontologies represent the tool to store and dynamically update world information. Due to the conditions of the underwater domain, communication among robots presents several issues. The exchange of...
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