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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...
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...
This paper will present new approaches regarding component and system design for underwater vehicles. The test vessel DNS Pegel was designed to test pressure tolerant devices for permanent submerged applications. It was built during the project ldquoPressure tolerant systems for permanent submerged applicationsrdquo. The vehicle is equipped with a minimal navigation system and a data logging system...
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...
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...
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...
In this paper, we discuss the design aspects and the development of the MARES AUV, a 1.5 m long vehicle, weighting 32 kg, designed and built at the University of Porto, Portugal. This vehicle is highly maneuverable, with the ability to move in the vertical plane, controlling pitch and vertical velocity; forward velocity can also be determined, anywhere between 0 and 2 m/s. MARES can easily integrate...
Autonomous underwater vehicles with high-resolution synthetic aperture sonar (SAS) are now becoming available as products. The main benefit of such a system is very high and range-independent resolution (typically 2-5 cm both along- and across-track) across a very wide swath (typically 100-200 m). High-end SAS systems can also deliver additional products such as high resolution bathymetry. The technology...
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