Advancements in the field of autonomous underwater vehicle

Sahoo, Avilash; Dwivedy, Santosha K.; Robi, P. S.

doi:10.1016/j.oceaneng.2019.04.011

Cited by 416 publications

(192 citation statements)

References 72 publications

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“…A significant part of the Earth is made of water provenience of lakes, rivers, and oceans, most of them still unexplored [1][2][3][4]. Underwater robots have begun to revolutionize seabed exploration, generally providing better information at a lower cost.…”

Section: Introductionmentioning

confidence: 99%

“…Autonomous underwater vehicles (AUVs) are robots that navigate based on algorithms and surrounding information. They are equipped with multiple advanced sensors to carry out exploration, operations of intelligence, and reconnaissance, as well as maritime research and development [1,2]. AUVs are important for oceanography for exploration and collecting data.…”

Section: Introductionmentioning

confidence: 99%

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Design, Construction, and Modeling of a BAUV with Propulsion System Based on a Parallel Mechanism for the Caudal Fin

et al. 2020

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Traditional propulsion systems for autonomous underwater vehicles (AUVs) have several deficiencies, such as the invasion of the aquatic environment through the generation of noise and damage to the ecosystem, higher energy consumption, and a unidirectional thruster vector. The last characteristic constrains the maneuverability of the vehicle. This paper proposes a 3-DOF spherical 3 universal–cylindrical–universal and 1 spherical joint (3UCU-1S) parallel mechanism coupled to an artificial caudal fin to produce a vectored thruster for a biomimetic AUV (BAUV). First, the design and construction of the prototype are described. Then, the kinematics and dynamics analysis of the parallel mechanism is presented. Finally, a motion study shows the types of movements that can be achieved with the mechanism to perform flapping of the caudal fin in different directions.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design, Construction, and Modeling of a BAUV with Propulsion System Based on a Parallel Mechanism for the Caudal Fin

et al. 2020

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“…This technique has integrated the wired and acoustic sensor networks. [13] Nodes are now connected through wired and acoustic sensors. However, wires are faster and transfer power between nodes.…”

Section: Integrated Wired/ Acoustic Wireless Sensor Networkmentioning

confidence: 99%

“…AUVs have been gaining popularity for work that involves deep underwater exploration as they last for long hours, and unlike ROVs, they are not tethered to a wire that's connected to the surface. AUVs navigate autonomously, using their own coded algorithm to assess its surroundings [13]. It has been a challenge to devise a computer device that navigates autonomously and explore hostile territories, but with the recent advancements of AUVs hardware material and software, they have become very practical and reliable.…”

Section: Autonomous Underwater Vehicle (Auv)mentioning

confidence: 99%

“…We propose three architectures for inspection purpose, [13], [17] there are a plethora of In line inspection tools (smart pigs) available currently in the market for examining the extensive underwater pipelines. Each of them is capable to detect one or more type/s of pipeline's defects either externally or internally or both depending on the technology used.…”

Section: Three Different Architecturesmentioning

confidence: 99%

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New Monitoring Architectures for underwater oil/Gas Pipeline using Hyper sensors

Aldosari

Elfouly

Ammar

et al.

EPiC Series in Computing

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In this paper we propose new real time architectures for monitoring underwater oil and gas pipelines by using underwater wireless sensor network (UWSN). New monitoring architectures for underwater oil/gas pipeline inspection system combine a real time UWSN with nondestructive In Line Inspection (ILI) technology. These architecture will help in reducing or detecting the pipeline’s defects such as cracks, corrosions, welds, pipeline’s wall thickness ...etc by improving data transfer from the pipeline to the processor to extract useful information and deliver it to the onshore main station. Hence, decreasing delays in default detection.

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Interconnection and damping assignment passivity‐based control for dynamic steering position stabilization of an underactuated AUV

Desai,

Manjarekar

2024

Adv Control Appl

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Steering motion bestows autonomous underwater vehicles (AUVs) with the agility to navigate intricate paths and trajectories precisely. Ensuring effective steering position stabilization in underwater vehicles is paramount, as it enables precise navigation and enhances safety, efficiency, data accuracy, adaptability to changing conditions, and the overall success of diverse underwater missions. This article addresses the challenging task of steering position stabilization in underactuated AUVs. To achieve this, we employ an interconnection and damping assignment passivity‐based control method to design a control law tailored for steering position stabilization. Our approach considers the nonlinear dynamics of a six‐degrees‐of‐freedom steering motion in AUVs. The control objective involves assigning a suitable energy function and reshaping the interconnection and damping structure to render the closed‐loop system asymptotically stable at the desired equilibrium point. The robustness of our proposed control law is assessed rigorously, subjecting it to modeling uncertainties and underwater disturbances. Our findings are substantiated with simulation results that support the efficacy of the designed control law. Notably, we base our simulations on experimentally validated steering motion parameters obtained from the REMUS 100 AUV, enhancing the real‐world applicability of our research.

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Advancements in the field of autonomous underwater vehicle

Cited by 416 publications

References 72 publications

Design, Construction, and Modeling of a BAUV with Propulsion System Based on a Parallel Mechanism for the Caudal Fin

Design, Construction, and Modeling of a BAUV with Propulsion System Based on a Parallel Mechanism for the Caudal Fin

New Monitoring Architectures for underwater oil/Gas Pipeline using Hyper sensors

Interconnection and damping assignment passivity‐based control for dynamic steering position stabilization of an underactuated AUV

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