Autonomous Underwater Vehicles as Tools for Deep-Submergence Archaeology

Roman, Christopher; Mather, Rod

doi:10.1243/14750902jeme202

Cited by 25 publications

(17 citation statements)

References 65 publications

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“…Assessment of archaeological resources obviously could be done using the data collected during multipurpose environmental-baseline surveys. Roman and Mather (2010) describe the use of AUVs for archaeological applications.…”

Section: Auv Survey Applicationsmentioning

confidence: 99%

AUV technology for seabed characterization and geohazards assessment

2015

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Autonomous underwater vehicles (AUV) are untethered submarine robots that can be used to carry out deepwater mapping and seabed-characterization surveys (seafloor to 150-m depth). AUV surveys are used in the marine petroleum industry for various exploration, environmental, geohazard, and engineering applications. Typically, AUVs are launched from a mother ship. They execute a preprogrammed survey pattern and are recovered, and the survey data are downloaded for analysis. Data on water depth, geomorphology, stratigraphy, and structure ranging downward to 150 m below the seafloor routinely are collected using a variety of sensing technology. Principal survey tools include a multibeam echo sounder to provide water column, bathymetric, and seafloor-reflectivity data; a side-scan sonar to provide high-resolution seafloor imagery; and a subbottom profiler (1-to 24-kHz seismic-reflection tool) to show subseafloor stratigraphy and structural features. Other AUV survey tools can include still cameras, lidar scanners, magnetometers, geochemical sensors (CO 2 , CH 4 , PAH, dissolved oxygen), and temperature and salinity sensors. AUV surveys help deepwater exploration and development to proceed efficiently and safely and thus have become an indispensable tool for deepwater operations.

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Section: Auv Survey Applicationsmentioning

confidence: 99%

AUV technology for seabed characterization and geohazards assessment

2015

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“…(2013)), (Roman and Mather (2010)). ARROWS 1 (logo in figure 1) is the acronym for ARchaeological RObot systems for the Worlds Seas.…”

Section: Introductionmentioning

confidence: 98%

The ARROWS project: adapting and developing robotics technologies for underwater archaeology

et al. 2015

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ARchaeological RObot systems for the World's Seas (ARROWS) EU Project proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to significantly reduce the cost of archaeological operations, covering the full extent of archaeological campaign. ARROWS methodology is to identify the archaeologists requirements in all phases of the campaign and to propose related technological solutions. Starting from the necessities identified by archaeological project partners in collaboration with the Archaeology Advisory Group, a board composed of European archaeologists from outside ARROWS, the aim is the development of a heterogeneous team of cooperating AUVs capable of comply with a complete archaeological autonomous mission. Three new different AUVs have been designed in the framework of the project according to the archaeologists' indications: MARTA, characterized by a strong hardware modularity for ease of payload and propulsion systems configuration change; U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A Size AUV, a vehicle of small dimensions and weight easily deployable even by a single person. These three vehicles will cooperate within the project with AUVs already owned by ARROWS partners exploiting a distributed high-level control software based on the World Model Service (WMS), a storage system for the environment knowledge, updated in real-time through online payload data process, in the form of an ontology. The project includes also the development of a cleaning tool for well-known artifacts maintenance operations. The paper presents the current stage of the project that will lead to overall system final demonstrations, during Summer 2015, in two different scenarios, Sicily (Italy) and Baltic Sea (Estonia).

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“…Significant research is being conducted on the development of autonomy for underwater robotic vehicles, which are widely employed in many fields of application such as oceanographic, marine archeology [1], military organizations, and cable tracking and inspection [2].…”

Section: Introductionmentioning

confidence: 99%

Design and Estimation of an AUV Portable Intelligent Rescue System Based on Attitude Recognition Algorithm

Shen¹,

Yang²

2020

Autonomous Vehicles

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This research is based on the attitude sensing algorithm to design a portable intelligent rescue system for autonomous underwater vehicles (AUVs). To lower the possibility of losing the underwater vehicle and reduce the difficulty of rescuing, when an AUV intelligent rescue system (AIRS) detects the fault of AUVs and they could not be reclaimed, AIRS can pump carbon dioxide into the airbag immediately to make the vehicle resurface. AIRS consists of attitude sensing module, double-trigger inflator mechanism, and activity recognition algorithm. The sensing module is an eleven-DOF sensor that is made up of a six-axis inertial sensor, a three-axis magnetometer, a barometer, and a thermometer. Furthermore, the signal calibration and extended Kalman filter (SC-EKF) is proposed to be used subsequently to calibrate and fuse the data from the sensing module. Then, the attitude data are classified with the principle of feature extraction (FE) and backpropagation network (BPN) classifier. Finally, the designed double-trigger inflator can be triggered not only by electricity but also by water damage when the waterproof cabin is severely broken. With the AIRS technology, the safety of detecting and investigating the use AUVs can be increased since there is no need to send divers to engage in the rescue mission under water.

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Autonomous Underwater Vehicles as Tools for Deep-Submergence Archaeology

Cited by 25 publications

References 65 publications

AUV technology for seabed characterization and geohazards assessment

AUV technology for seabed characterization and geohazards assessment

The ARROWS project: adapting and developing robotics technologies for underwater archaeology

Design and Estimation of an AUV Portable Intelligent Rescue System Based on Attitude Recognition Algorithm

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