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Doppler Velocity Logs (DVLs) have become increasingly popular as navigation tools on remotely-operated vehicles, autonomous underwater vehicles, and human-occupied vehicles for over a decade. Using acoustic measurements to capture bottom tracking velocity measurements, DVLs can provide updated velocities which can in turn be used to calculate distance traveled. Thus, DVLs can perform as fundamental...
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...
This paper presents the development and testing of a synchronous one-way travel time (OWTT) navigation system for autonomous underwater vehicles (AUVs). Synchronous OWTT navigation is important for multiple vehicle applications as it preserves the range update rate independent of fleet size. The presented approach is based on the use of ranges generated by 13-bit acoustic messages and an a priori...
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...
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...
In late years, deep-sea investigation becomes important for a study about the global warming, study about ocean earthquake and so on. Recently the vehicle has begun to use for scientific applications. These applications require precise maneuvering of the vehicle for detailed investigations. For high performance maneuvering of the vehicle, it is necessary to design a control system based on a mathematical...
Autonomous Underwater Vehicles (AUVs) are in high demand within the offshore industry and maritime research, mainly used for bathymetry and data acquisition. The control architectures of these AUVs mimic this primary function by focusing on strict mission plans as these kind of application require, thus reducing the need for direct sensor reaction to emergency situations. The emerging needs for more...
Multiple cooperative vehicles, joined in an acoustic communication network, can perform time-critical, cooperative operations given a robust task allocation mechanism and an efficient path planning model. In this paper, we present solutions for the task-allocation and path-planning problems of the cooperative schema for multiple AUVs: a Location-Aided task Allocation Framework (LAAF) algorithm for...
A scripting language for state configured layered control of a long range autonomous underwater vehicle (AUV) is introduced. The XML-based language has been designed to meet the complex requirements for long-term autonomous operation. It does not require that mission planners be programmers, yet allows them to have a high degree of certainty at deployment that the robot will do what they want it to...
Mola Mola is a seafloor mapping AUV owned and operated by the National Institute for Undersea Science and Technology (NIUST). Its primary sensor is a downward-facing camera producing color-corrected seafloor imagery which, with proper navigation and post processing, can be converted to a photo mosaic. It also uses a multibeam sonar to gather bathymetry encompassing the photo coverage. Since its delivery...
This paper describes a comparison of experimentally identified dynamic models for the planar motion of an unmanned surface vehicle (USV). The objective is to determine a model which is rich enough to enable effective motion planning and control, simple enough to allow straight forward parameter identification, and general enough to describe a variety of hullforms and actuator configurations. Starting...
The Virginia Tech Self-Mooring Autonomous Underwater Vehicle (AUV) is capable of mooring itself on the seafloor for extended periods of time. The AUV is intended to travel to a desired mooring location, moor itself on the seafloor, and then release the mooring and return to a desired egress location. In addition, the AUV is designed to be inexpensive. The self-mooring concept was successfully tested...
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...
Different underwater vehicles have been developed in order to explore underwater regions, specially those of difficult access for humans. Autonomous Underwater Vehicles (AUVs) are equipped with on-board sensors, which provide valuable information about the vehicle state and the environment. This information is used to build an approximate map of the area and estimate the position of the vehicle within...
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.
Among the new technologies in marine robotics is the trend toward smaller, cheaper and highly maneuverable vehicles, which could operate in swarms and also in very narrow and cluttered environments. A key challenge for vehicles with characteristic length of tens of centimeters scale is propulsion, where the designer faces high complexity in small vehicular space, as well as fouling concerns. Toward...
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based...
The Slocum Glider is a commercially available autonomous underwater vehicle used in the sensing of the world's oceans. Its manufacturer-provided simulator uses nearly identical electronics and components as installed in the production glider. The simulator is mainly used to develop and test new hardware and software components in a real-time setting, where for instance, a one-week mission of the glider...
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