Autonomous Docking Demonstrations with Enhanced REMUS Technology

Allen, B.; Austin, Thomas; Forrester, N.; Goldsborough, R.; Kukulya, Amy; Packard, G.; Purcell, Michael; Stokey, R.

doi:10.1109/oceans.2006.306952

Cited by 127 publications

(52 citation statements)

References 8 publications

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“…The dock is composed of two sub-parts: a giant funnel and an inner acrylic tube. The width and the height of its entrance nozzle are approximately four times the vehicle diameter, and it guides the vehicle into a tubular part to secure the vehicle (Allen et al, 2006). Fig.…”

Section: Mathematical Modelmentioning

confidence: 99%

“…1 was initially recommended to have closed nozzle and tube parts (Stokey et al, 2001), and an unclosed frame shape was subsequently proposed (Allen et al, 2006). The two different dock shapes are illustrated in Fig.…”

Section: Velocity and Positionmentioning

confidence: 99%

“…The second type operates similarly to the landing of an aircraft onto an aircraft carrier, such as the Marine Bird docking system, where the vehicle catches a V-shaped guide on the base of the dock using its catching arms and joins the connecting device (Fukasawa et al, 2003). The third type is rigidly moored and shaped like a cone, a cage or a funnel, which provides a protective housing and requires the vehicle to navigate into the dock, such as the REMUS (Remote Environmental Monitoring UnitS) docking system (Allen et al, 2006;Stokey et al, 1997), the flying plug docking system (Cowen et al, 1997), EURODOCKER (Brighenti et al, 1998), the Explore AUV system (Wang et al, 1992), and the ISIMI docking system (Park et al, 2007). The fourth type uses an ROV (Remotely Operated Vehicle) to remotely recover the AUV (Moline and Schofield, 2009).…”

Section: Introductionmentioning

confidence: 99%

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Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents

et al. 2014

Ocean Engineering

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Section: Mathematical Modelmentioning

confidence: 99%

Section: Velocity and Positionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents

et al. 2014

Ocean Engineering

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“…The AUV could be released from the dock when a target is found or could periodically reconnect to the dock for power and data transfer. AUV docking has been accomplished for static systems [36,37] and is likely for moving vessels and tow bodies [38]. Access to periodic data download, either from docking or from compressed images telemetered via acoustic communications [35], can be used in the event of a significant Fig.…”

Section: Multi-scalar Mappingmentioning

confidence: 99%

Autonomous Underwater Vehicles as Tools for Deep-Submergence Archaeology

Roman

Mather

2010

Proceedings of the Institution of Mechanical Engineers, Part M:

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Marine archaeology beyond the capabilities of scuba divers is a technologically enabled field. The tool suite includes ship-based systems such as towed side-scan sonars and remotely operated vehicles, and more recently free-swimming autonomous underwater vehicles (AUVs). Each of these platforms has various imaging and mapping capabilities appropriate for specific scales and tasks. Broadly speaking, AUVs are becoming effective tools for locating, identifying, and surveying archaeological sites. This paper discusses the role of AUVs in this suite of tools, outlines some specific design criteria necessary to maximize their utility in the field, and presents directions for future developments. Results are presented for a recent joint AUV-towed system survey and a demonstration of current mine-hunting technologies applied to archaeology.

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“…Equation (6) indicates that j λ is a function of the change in τ divided by the instantaneous change in time. The subscript on time indicates that this time step…”

Section: Rapid Prototyping Of Rendezvous Trajectoriesmentioning

confidence: 99%

AUV rendezvous trajectories generation for underwater recovery

Yakimenko

Horner²,

Pratt³

2008

2008 16th Mediterranean Conference on Control and Automation

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-For many years, autonomous underwater vehicles (AUVs) have been developed and employed for a myriad of tasks. Their ability to accurately collect and monitor oceanic conditions makes them a valuable asset for a variety of naval missions. Deploying and recovering AUVs, however, is currently largely limited to surface vessels or swimmers. The purpose of this paper is to demonstrate that by using a mathematical technique called a direct method of calculus of variations, it is possible for an AUV to autonomously compute and execute a trajectory that will allow for recovery by a submerged mobile recovery system (another AUV, submarine, etc.). The algorithm ensures that a smooth trajectory is produced that, while not traditionally optimal, is realistic and still close to the optimal solution. Also, using this technique allows the trajectory to be computed very rapidly allowing it to be recomputed every couple of seconds to accommodate sudden changes, possible adjustments and different disturbances, and therefore to be used in the real life.

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Autonomous Docking Demonstrations with Enhanced REMUS Technology

Cited by 127 publications

References 8 publications

Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents

Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents

Autonomous Underwater Vehicles as Tools for Deep-Submergence Archaeology

AUV rendezvous trajectories generation for underwater recovery

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