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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...
In March and April 2010, an ISE Explorer Autonomous Underwater Vehicle (AUV) was deployed to Canada's high Arctic. The under-ice bathymetric surveys conducted on this deployment support Canada's submission to establish the outer limits of its continental shelf under the United Nations Convention on the Law of the Sea (UNCLOS).
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...
Increasing use and complexity of subsea installations has put focus on the costs of maintaining these systems. In addition, access to these systems is sometimes limited by adverse weather and ice conditions. Conventional methods for intervention, maintenance and repair (IMR) using surface ships and ROVs are very expensive furthermore are response and mobilization times slow. To address this Saab Underwater...
During extended continuous operations, gaps can form in the operations area when vehicles leave to recharge their energy supplies. This project implements a novel token-passing algorithm to manage a refueling strategy for cooperating unmanned undersea vehicles. The algorithm, which limits the number of vehicles to refuel during any time segment, robustly accommodates intermittent communications.
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...
Compared to traditional labor-intensive manual design approaches, automated conceptual and parametric design for unmanned underwater vehicles (UUV's) can be executed at dramatically lower cost using a novel Automated Vehicle Conceptual Design Utility (AVCDU) developed at Lockheed Martin MS2. This utility automates the UUV spiral design process in a way similar to tools from more established disciplines...
Advanced AUV's, particularly those capable of long duration missions, need increasing amounts of autonomy in order to carry out sophisticated missions without requiring constant support from a ship. One important aspect of this autonomy is fault detection and execution monitoring. In this paper we describe the application of the Livingstone 2 diagnosis system on Autosub 6000 and examine in particular...
An autonomous surface vehicle (ASV) has been developed to perform autonomous trajectories in protected water bodies for the measurement of diverse parameters. The navigation track is accomplished based on the information from a GPS and an electronic compass. Several water body parameters are measured by means of an electronic sonde. The assigned track is composed by a set of points, each one with...
The present paper deals with new approaches concerning pressure tolerant submerged technology. Different designs of pressure tolerant systems, which are characterized by the absence of pressure hulls, are discussed. Advantages and disadvantages of this novel technology are demonstrated. The overall pressure tolerant test platform DNS Pegel is introduced along with the main vehicle components and subsystems...
To keep the precious protein source, it is thus extremely important to conserve the biodiversity of the ocean and at the same time to make use of its limited space as much as possible without doing any environmental harm. With this broad objective in mind, Tokyo University of Marine Science and Technology (TUMSAT) and Mitsui Engineering & Shipbuilding Co., Ltd. have started a research and development...
This paper introduces a control-oriented model for a class of autonomous underwater vehicles (AUVs) characterized by an actuation system that includes propellers, internal weight motion and ballast charge/discharge. Since this kind of actuation combines the actuation of both oceanic gliders and self-propelled AUVs, these vehicles are termed hybrid vehicles. The modelling results are employed in the...
A large focus of the Unmanned Aerial Vehicle (UAV) community has been shifted to addressing the requirements necessary for managing systems of UAVs. The ability to automate the process of tracking and responding to the health of UAVs contributes to the reliable and persistent operation of multiple UAV systems. In particular, the automation of managing UAVs and their resources removes a critical, frequent,...
This paper describes the design and implementation of a prototype teleoperated unmanned guided vehicle (UGV) for security applications. A commercial Quad motorbike with a 1-cylinder gasoline engine with a power of about 5 HP was re-engineered and transformed into a fully automated vehicle that can be teleoperated. The designed UGV is remotely controlled using high speed secure wireless connection...
Complex, collaborative maneuvers by a fleet of autonomous underwater vehicles (AUVs) requires the dynamic management of limited time and energy resources at both fleet and individual vehicle levels. The supervisor module presented in this paper attempts to meet this need for a dynamic resource optimizer. Employing linear equivalent fuzzy logic control systems (LEFLC's), this supervisor module optimizes...
In order to improve endurance and increase distance run of autonomous surface vehicles (ASV) under limited battery capacity, this paper discusses energy consumption of electric propulsion system at different controlling conditions. A mathematical model including the electric motor, propeller and the hull resistance is established, based on which energy consumption in stable cruise and starting process...
There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (autonomous underwater vehicle) were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. The plan for its development...
The wave glider is a new autonomous marine vehicle that is unique in its ability to harness ocean wave energy for platform propulsion. This paper provides an overview of the wave glider vehicle's architecture and capabilities, and presents results from the extensive engineering sea trials that we have conducted with several prototype and the current production generations of the vehicle. The vehicle's...
An amphibious ground robot was designed, built and tested as a prototype for a mobile sensor and sampler carrier to conduct surveys on sandy beaches in the surf zone. The Lake Michigan Amphibious Robot (LMAR) is a heavy vehicle in the shape of a squat box with a low center of gravity for stability and a broad mounting plate that can accommodate a variety of scientific instruments. The vehicle is topped...
A proposal for a buoy station for AUV refuel is described and depicted. An algorithm to calculate the forces on, and displacements of the buoy is selected. The buoy is to be funded and manufactured before September 2010, when it is to see service in the Azores as part of FREEsubNET week, a public outreach activity of EC contract number MCRTN-036186. The design calls for a low-maintenance permanent...
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