ConSys - a new software framework for underwater vehicles

Jacobi

et al. 2018

Sensors

Self Cite

This paper describes the concept, the technical implementation and the practical application of a miniaturized sensor system integrated into an autonomous underwater vehicle (AUV) for real-time acquisition of water quality parameters. The main application field of the presented system is the analysis of the discharge of nitrates into Norwegian fjords near aqua farms. The presented system was developed within the research project SALMON (Sea Water Quality Monitoring and Management) over a three-year period. The development of the sensor system for water quality parameters represented a significant challenge for the research group, as it was to be integrated in the payload unit of the autonomous underwater vehicle in compliance with the underwater environmental conditions. The German company -4H- JENA engineering GmbH (4HJE), with experience in optical in situ-detection of nutrients, designed and built the measurement system. As a carrier platform, the remotely operated vehicle (ROV) “CWolf” from Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung - Institutsteil Angewandte Systemtechnik (IOSB-AST) modified to an AUV was deployed. The concept presented illustrates how the measurement system can be integrated easily into the vehicle with a minimum of hard- and software technical interfaces.

Section: Methodsmentioning

confidence: 99%

Modular AUV System with Integrated Real-Time Water Quality Analysis

Jacobi

et al. 2018

Sensors

Self Cite

“…The autonomous underwater vehicle (AUV) "CWolf", whose performance parameters are shown in Table I, is based on the remote operated vehicle (ROV) "SeaWolf" from ATLAS Hydrographic GmbH [8]. After modifying it to an autonomous platform, the control system ConSys is integrated [9]. By means of the modular payload concept, different sensor systems can be installed inside and outside.…”

Section: B Auv Base Platform "Cwolf"mentioning

confidence: 99%

Model identification and controller parameter optimization for an autopilot design for autonomous underwater vehicles

Taubert

et al. 2014

Oceans 2014 - Taipei

Self Cite

Abstract-Nowadays an accurate modeling of the system to be controlled is essential for reliable autopilot. This paper presents a non-linear model of the autonomous underwater vehicle "CWolf". Matrices and the corresponding coefficients generate a parameterized representation for added mass, Coriolis and centripetal forces, damping, gravity and buoyancy, using the equations of motion, for all six degrees of freedom. The determination of actuator behaviour by surge tests allows the conversion of propeller revolutions to the respective forces and moments. Based on geometric approximations, the coefficients of the model can be specified by optimization algorithms in "open loop" sea trials. The realistic model is the basis for the subsequent design of the autopilot. The reference variables used in the four decoupled adaptive PID controllers for surge, heading, pitch and heave are provided a "Line of Sight" -guidance system. A constraint criteria optimization determines the required controller parameters. The verification by "closed loop" sea trials ensures the results.

“…The AUV CWolf (see Fig. 3) is able to conduct autonomous missions with very different characteristics using ConSys [10]. For the SALMON project, a track controller is required that runs on the SC in the payload unit.…”

Section: A Auv Base Platformmentioning

confidence: 99%

Modular AUV system for Sea Water Quality Monitoring and Management

Taubert

2013 MTS/IEEE OCEANS - Bergen

et al. 2013

Self Cite

The sustained and cost-effective monitoring of the water quality within European coastal areas is of growing importance in view of the upcoming European marine and maritime directives, i.e. the increased industrial use of the marine environment. Such monitoring needs mechanisms/systems to detect the water quality in a large sea area at different depths in real time. This paper presents a system for the automated detection and analysis of water quality parameters using an autonomous underwater vehicle. The analysis of discharge of nitrate into Norwegian fjords near aqua farms is one of the main application fields of this AUV system. As carrier platform the AUV "CWolf" from the Fraunhofer IOSB-AST will be used, which is perfectly suited through its modular payload concept. The mission task and the integration of the payload unit which includes the sensor module, the scientific and measurement computer in the AUV carrier platform will be described. Few practice oriented information about the software and interface concept, the function of the several software modules and the test platform with the several test levels to test every module will be discussed.