A docking system for REMUS, an autonomous underwater vehicle

Stokey, R.; Purcell, Michael; Forrester, N.; Austin, Thomas; Goldsborough, R.; Allen, B.; Alt, C. von

doi:10.1109/oceans.1997.624151

Cited by 75 publications

(42 citation statements)

References 4 publications

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“…A flashlight is placed on the bottom of the pool to serve as the target; the camera tracks the light and the control system guides the vehicle towards the target. This method is different than the proposed surface ship navigation using a USBL, but has obvious applications in missions such as docking or homing towards an existing target [6], [22]. This capability is completely self-contained within the vehicle.…”

Section: B Navigation Methodsmentioning

confidence: 95%

Vertical glider robots for subsea equipment delivery

Reed

Ambler

Guerrero

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. CitationReed Vertical Glider Robots for Subsea Equipment DeliveryBrooks Reed, Charles Ambler, Julio Guerrero and Franz Hover Abstract-We have developed an underwater vehicle that offers significant performance improvements over existing subsea elevators. Our Vertical Glider Robot falls under its own weight to a precise location on the seafloor, employing streamlining, active steering, and basic navigation instrumentation. We examine typical at-sea mission requirements, mention several key governing parameters, and outline our design approach. We then describe a prototype device, and present results from model-scale experiments.

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Section: B Navigation Methodsmentioning

confidence: 95%

Vertical glider robots for subsea equipment delivery

Reed

Ambler

Guerrero

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…Notable among these are the WHOI-MIT-AOSN dock [15], EURO-DOCKER [17], REMUS dock [64,65] and the Kawasaki Docking System [33]. All these systems have been quite successful and employ different ideas to deal with the problem of docking.…”

Section: Typical Sensor Suite On a Surveying Auvmentioning

confidence: 99%

“…This can be seen in the Remus and Eurodocker systems [17,65]. This method provides good physical protection for the AUV and leaves a lot of options open for power and data transfer.…”

Section: Cone / Cage Type Dockmentioning

confidence: 99%

Design considerations for engineering autonomous underwater vehicles

Shah¹

2007

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Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and remotely operated vehicles (ROV) technology. AUVs are attractive as cheaper and efficient alternatives to the older technologies and are breaking new ground in many applications. Designing an autonomous vehicle to work in the harsh environment of the deep ocean comes with its set of challenges. This paper discusses how the current engineering technologies can be adapted to the design of AUVs.Recently, as the AUV technology has matured, we see AUVs being used in a variety of applications ranging from sub-surface sensing to sea-floor mapping. The design of the AUV, with its tight constraints, is very sensitive to the target application. Keeping this in mind, the goal of this thesis is to understand how some of the major issues affect the design of the AUV. This paper also addresses the mechanical and materials issues, power system design, computer architecture, navigation and communication systems, sensor considerations and long term docking aspects that affect AUV design.With time, as the engineering sciences progress, the AUV design will have to change in order to optimize its performance. Thus, the fundamental issues discussed in this paper can assist in meeting the challenge of maintaining AUV design on par with modern technology.

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“…Due to the dramatically-lower cost of OSUG compared to a typical commercial system, numerous OSUG systems can be deployed to collect data from large regions as opposed to localized areas. Further, underwater vehicles always have a risk of becoming lost on a mission, especially when operated untethered 5 , or are not recollected due to the high cost of locating and collecting the underwater vehicle 6 . The sub-$1000 price-point of OSUG makes recollection optional.…”

Section: Introductionmentioning

confidence: 99%

Design of a Low-Cost Open-Source Underwater Glider

Williams¹

2018

Preprint

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Typical buoyancy engine-based Underwater Gliders are highly-complex and cost-prohibitive, generally ranging in price-point from $50,000 to $250,000. A low-cost, OpenSource Underwater Glider (OSUG) was thus developed as a low-cost data-collection and research tool. This glider, OSUG, is a sub-$1000, 1.2m long, 12kg, and capable of 50-hours of continuous operation. Its efficiency, and usecase feasibility were evaluated. The buoyancy engine is constructed of medical grade syringes that pull in water from the environment to simplify the system and lower costs. Direction of locomotion is controlled by altering pitch and roll via changing the center-of-mass. The system was designed to be primarily three-dimensionally (3D) printed and fully-modular to limit cost and ensure reproducibility.

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A docking system for REMUS, an autonomous underwater vehicle

Cited by 75 publications

References 4 publications

Vertical glider robots for subsea equipment delivery

Vertical glider robots for subsea equipment delivery

Design considerations for engineering autonomous underwater vehicles

Design of a Low-Cost Open-Source Underwater Glider

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