A USV-Based Automated Launch and Recovery System for AUVs

Sarda, Edoardo I.; Dhanak, Manhar R.

doi:10.1109/joe.2016.2554679

Cited by 53 publications

(39 citation statements)

References 11 publications

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“…Ludvigsen et al [15] presented the results of AUV HUGIN usage complemented by ROV data collection, although both were deployed from a manned research vessel. Using an USV as a source of positioning data is presented, for example, in [16,17], but those results are based on simulation only.…”

Section: Data Acquisition Systemmentioning

confidence: 99%

The Autonomous Underwater Vehicle Integrated with the Unmanned Surface Vessel Mapping the Southern Ionian Sea. The Winning Technology Solution of the Shell Ocean Discovery XPRIZE

et al. 2020

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The methods of data collection, processing, and assessment of the quality of the results of a survey conducted at the Southern Ionian Sea off the Messinian Peninsula, Greece are presented. Data were collected by the GEBCO-Nippon Foundation Alumni Team, competing in the Shell Ocean Discovery XPRIZE, during the Final Round of the competition. Data acquisition was conducted by the means of unmanned vehicles only. The mapping system was composed of a single deep water AUV (Autonomous Underwater Vehicle), equipped with a high-resolution synthetic aperture sonar HISAS 1032 and multibeam echosounder EM 2040, partnered with a USV (Unmanned Surface Vessel). The USV provided positioning data as well as mapping the seafloor from the surface, using a hull-mounted multibeam echosounder EM 304. Bathymetry and imagery data were collected for 24 h and then processed for 48 h, with the extensive use of cloud technology and automatic data processing. Finally, all datasets were combined to generate a 5-m resolution bathymetric surface, as an example of the deep-water mapping capabilities of the unmanned vehicles' cooperation and their sensors' integration.The ocean floor is the most remote and difficult part of our planet, yet to be explored. Due to the extreme conditions facing exploration, the majority of the world's ocean floor is still unmapped [1,2]. Modern mapping techniques, based on the acoustic technology, allow us the possibility to collect bathymetric and water column data, but the survey process is slow and expensive. The majority of present-day surveying efforts go into the busier, shallow waters for the purpose of safety of navigation. While this represents an understandable and necessary approach, it results in the majority of the deep ocean still being unmapped. The overall shape of the global ocean floor is an estimation based on the satellite altimetry technique [3] and interpolation between sparse acoustic measurements.The American foundation XPRIZE announced in 2015 that the next award will go to those who come up with the solution for faster, detailed mapping of the ocean floor, without exposing humans to the harsh sea environment. That was the beginning of the Shell Ocean Discovery XPRIZE. To compete in the final round of the Shell Ocean Discovery XPRIZE, each team had to present the solution for collecting bathymetric data and imagery data and successfully complete Round 1 in 2017. During the second round a year later, the bathymetric data collection had to achieve depths of up to 4000 m, with a vertical resolution of 0.5 m and a horizontal resolution of 5 m. The imagery needed to include images presenting recognizable geological, biological, or archaeological features on the seabed. The solution had to be autonomous or remote controlled, but there must have been no human inside the survey area, and no physical link between the devices and the mission control location. The mapping system, with all its elements, had to fit into one standard 40-ft shipping container. The minimum coverage to be achieved during t...

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Section: Data Acquisition Systemmentioning

confidence: 99%

The Autonomous Underwater Vehicle Integrated with the Unmanned Surface Vessel Mapping the Southern Ionian Sea. The Winning Technology Solution of the Shell Ocean Discovery XPRIZE

et al. 2020

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“…Lee (2016) surveyed and categorized various types of LRS fitted to specific manned platforms (surface or sub-surface). Sarda and Dhanak (2017) described a concept design for automatic launch and recovery of a small AUV from an unmanned surface vehicle and assessed its feasibility through modeling and simulation.…”

Section: Introductionmentioning

confidence: 99%

Experimental Study on Coupled Motions of Mother Ship Launching and Recovering of Human-Occupied Vehicle in Regular Waves

Chen

Duan

et al. 2020

J. Marine. Sci. Appl.

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The launching and recovery process of a human-occupied vehicle (HOV) faces more complex wave effects than other types of submersible operations. However, due to the nonlinearity between the HOVand its mother ship, difficulties occur in theoretically simulating their coupled motion and hydrodynamics. The coupled motion responses and the load under different regular wave conditions are investigated experimentally in this study. The optimized design of the experimental scheme simulated the launching and recovery process of the mother ship and HOV in regular waves. The attitude sensor performed synchronous real-time measurement of the coupled motion between the mother ship and HOV as well as obtained the load data on the coupled motion under different cable lengths. The results show that models in heading waves mainly lead to the vertical motion of the hoisting point. In beam waves, the transverse and vertical motions of the hoisting point occur in a certain frequency of waves. Under the heading and beam wave conditions, the longer the hoisting cable is, the greater the movement amplitude of the submersible is. Moreover, compared with the condition of the beam waves, the hoisting submersible has less influence on the mother ship under the condition of the heading waves. The findings provide theoretical support for the design optimization of the launching and recovery operation.

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“…Among them, surface vessels are currently the most commonly used method. Generally, the recovery process is more difficult than the launch process [5]. The recovery process is currently mainly supported by manned ships and manpower, which exits two major disadvantages: 1) high operating costs and high staff risk; 2) low efficiency.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, many research institutions and companies are studying the related technologies of USV self-recovering AUVs, for example: Edoardo I. S used a catamaran USV to recover REMUS100 AUV through a thin line with a depressor wing from a winch on the USV [8]; Advanced Technology & Research Corporation made two schemes, all of which are towed from a single boat [9]. ECA group just developed and provided a USV self-recovering AUVs system, which is also a kind of underwater towing recycling method and can complete the recycling of AUV, towed sonar and other equipment[10]; By analyzing the current development status of USV self-recovering AUVs, the recycling method is mainly based on the underwater towing method, that is, USV uses one cable or captured-rod to tow docking device to sail underwater, and then AUV completes the docking process with the docking device.…”

Section: Introductionmentioning

confidence: 99%

Study on the Mechanical Characteristics of a Towing Docking Device for USV Self-Recovering AUVs

Meng

Yang

et al. 2019

OCEANS 2019 - Marseille

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Two new types of towing docking device for automated recovery of an autonomous underwater vehicle (AUV) from an unmanned surface vehicle (USV) are described. One type is the form of the stable wing, and the other is the form of the captured-rod. On the basis of the current towing stable wing, two tail rudders have been added to the tail of the stable wing and the docking device's posture can be changed by adjusting the two tail rudders. For the captured-rod docking device, a V-type capture mechanism needs to be installed at the front of a AUV. Firstly, the mechanical structure of the two towing docking devices is introduced, and the mechanical analysis are analyzed. Then, for the stable wing, the steady-state numerical simulations under different working conditions are carried out, and dynamic numerical simulations are also carried out when the docking device is towed by a USV. Besides, the collision process between the AUV and the captured-rod is also simulated. Finally, the stable wing towing docking device is being implemented and tested on a USV.

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A USV-Based Automated Launch and Recovery System for AUVs

Cited by 53 publications

References 11 publications

The Autonomous Underwater Vehicle Integrated with the Unmanned Surface Vessel Mapping the Southern Ionian Sea. The Winning Technology Solution of the Shell Ocean Discovery XPRIZE

The Autonomous Underwater Vehicle Integrated with the Unmanned Surface Vessel Mapping the Southern Ionian Sea. The Winning Technology Solution of the Shell Ocean Discovery XPRIZE

Experimental Study on Coupled Motions of Mother Ship Launching and Recovering of Human-Occupied Vehicle in Regular Waves

Study on the Mechanical Characteristics of a Towing Docking Device for USV Self-Recovering AUVs

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