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This paper presents a discussion of the challenges involved in the support of offshore marine renewable technology installations and how recent developments in autonomous underwater vehicles (AUVs) and innovative remotely operated vehicles (ROVs) provide a unique technical solution to address those challenges. A description of Bluefin Robotics' AUVs is presented along with relevant data that show...
This paper describes the design and construction of a Low Cost Autonomous Underwater Vehicle prototype for Antarctic Exploration to use it in the Ecuadorian Expedition to the Scientific Base Pedro Vicente Maldonado in Antarctica. This AUV can work as a platform to transport scientific payload in a determined path. The AUV length is less than 2m. Results of some systems of the AUV from laboratory,...
This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log...
This paper presents vehicle control system for automatic valet parking with infrastructure sensors. First, we describe the automatic valet parking service system. In the service, vehicle moves autonomously based on sensing data generated by infrastructure sensors. Second, we implement vehicle control system for automatic valet parking. We design hardware and software components focusing on minimizing...
In this paper an extended Kalman filter for real-time estimation of micro flight vehicle body attitude by using MEMS gyros, accelerometers, and magnetometers is presented. The algorithm uses quaternions to represent rotation, which can avoid the singularity problem caused by using Euler angles. Attitude quaternion errors and drift bias of gyros were selected to construct a state vector. The state...
The use of Autonomous Underwater Vehicles (AUV) as robots for exploration and oceanology science has been a field of interest of several universities and research center's around the world in the last decade. Cuba being a country surrounded by the Caribbean Sea, having most of it's resources in it. Researchers from the Central University of Las Villas (UCLV) and the Hydrographic Research Center (HRC)...
A sea demining system using autonomous marine surface vehicles (AMSV) is introduced. The research involves the development of exemplars of these vehicles, and the procedures for area scanning and coverage. The demining is made by field influence, towing a submerged “fish”. This study is made both with simulations and with scale experiments.
Divers and swimmers pose a potential water-side threat to assets in ports and harbors. Developing effective technologies and systems to detect, localize, and classify these threats is critical to protecting those assets. Once a potential threat has been identified, it is necessary to intervene to either deter or further classify a threat. UUVs are a technology that can be employed in this role, but...
Many who are interested in the topic of Waterside Security focus primarily on the detection of threats. This may seem like a logical focal point, but the ideal starting point should be to understand the system-of-systems with which security is to be ensured so that e.g. threat detection can be analysed within the broader context. For this purpose it is necessary to have a tool that can consider all...
The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure...
In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach only uses onboard sensors in a simultaneous localization...
In June 2009, Memorial University of Newfoundland began a project involving multiple disciplines of its Faculty of Engineering and Applied Science exposing students to the many aspects of autonomous vehicle development. Combining the skills of teams from the disciplines of Ocean and Naval Architecture, Electrical, and Mechanical engineering, students were able to design and build a prototype of an...
Historically, the task of monitoring and mapping fragile coastal ecosystems in comparatively shallow depths (less than 300 meters) has been a challenge. Divers can collect some information, sonars can do extensive acoustic study, and Autonomous Underwater Vehicles (AUVs) are playing an increasing role. However, ground truthing, fish counts, detailed coral health studies, and other tasks can require...
Terrain aided navigation techniques are attractive for obtaining submerged position fixes for an underwater vehicle. This paper describes results from a real-time terrain navigation system developed for the HUGIN AUV family. The system is a result of previous work on terrain navigation at FFI and has been tested in sea trials on several occasions. In the test described herein, DVL altitude data was...
This paper addresses the simultaneous localization and control of an AUV using a single acoustic beacon. To determine its horizontal position, the AUV fuses distances to the single beacon with dead reckoning data, heading and longitudinal velocity. A particle filter and an extended Kalman filter are implemented and compared in terms of performances. As this is an ill-posed problem, special guidance...
The Ocean Technology Test Bed (OTTB) is a multi-functional underwater test facility developed by the Ocean Technology Lab (OTL) at the University of Victoria to serve military, academia, government and industry. The OTTB is located off the coast of Vancouver Island, Canada. It resides in 80m of water and covers 2-square kilometers of the seafloor A seafloor cable provides power and communication to...
The REMUS-100 Hull and Harbor vehicle is being developed by the Ocean Systems Laboratory (OSL) at the Woods Hole Oceanographic Institution, under Office of Naval Research (ONR) funding. The purpose of the vehicle is autonomous search and survey in close confines, such as harbors, finger piers and ship or submarine hulls. Initial tests of the system confirmed the unique suitability of this vehicle...
The Flying Fish unmanned seaplane, shown capable of self-managed sequences of independent flight during testing with the first generation vehicle, has been updated with the creation of second generation research vehicle that incorporates solar-energy harvesting. The new Flying Fish possesses a unique capability set that lends itself to mission concepts involving long term deployment approaching perpetual...
It is often crucial in most of today's Autonomous Underwater Vehicles (AUVs) missions that the vehicle position be known precisely. Navigation performance of an Aided Inertial Navigation System (AINS) is always limited by the accuracy of sensors. In this paper we focus on enhancing performance of the AINS via micronavigation, which exploits a so-called Displaced Phase Center Antenna (DPCA) technique...
The Iver2 Autonomous Underwater Vehicle remote helm functionality provides an open system interface, which allows users to easily integrate their own sensors, and take full control over the vehicle in real time. The remote helm option provides a separate CPU to communicate with the main vehicle control CPU. The remote helm API provides all the commands when interfacing the Iver2 to a user control...
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