Design of a modular Autonomous Underwater Vehicle for archaeological investigations

Allotta, Benedetto; Baines, Steven; Bartolini, Fabio; Bellavia, Fabio; Colombo, Carlo; Conti, Roberto; Costanzi, Riccardo; Dede, Can; Fanfani, Marco; Gelli, Jonathan; Gundogdu, Hilal Tolasa; Monni, Niccolò; Moroni, Davide; Natalini, Marco; Pascali, Maria Antonietta; Pazzaglia, Fabio; Pugi, Luca; Ridolfi, Alessandro; Reggiannini, Marco; Roig, Daniel; Salvetti, Ovidio; Tekdemir, Enis I.

doi:10.1109/oceans-genova.2015.7271398

Cited by 26 publications

(21 citation statements)

References 9 publications

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“…To solve the problem above, the vehicle is designed as shown in Figure 1. Refer to some submersible unmanned aerial vehicle [14][15] and special-shaped underwater vehicle [16][17][18][19][20] , ULSI-AUV adopts underactuated structure, and four vertical thrusters of AUV are symmetrically installed on xy-plane, and each thruster has the same thrust dynamic characteristics in both forward and backward directions. This kind of thrust mechanism can be used to decouple the control force, therefore keep the depth and anti-rolling conveniently.…”

Section: Introductionmentioning

confidence: 99%

Experimental and Numerical Investigation of Station Keeping Control for Ultra-Silent Autonomous Underwater Vehicle

Zeng

2020

Preprint

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Abstract In this paper, we consider station keeping control law for ultra-silent autonomous underwater vehicle(ULSI-AUV) based on the sliding mode controller. The mechanical system of ULSI-AUV prototype is designed and manufactured, and the electrical system is selected and installed. The kinematic and dynamics model is established. The goal of station keeping control is to make the ULSI-AUV prototype fixed-depth and anti-rolling to carry out underwater operations. Numerical results show the effectiveness of this method. In addition, real-time experimental results also prove the effectiveness of the proposed algorithm.

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Section: Introductionmentioning

confidence: 99%

Experimental and Numerical Investigation of Station Keeping Control for Ultra-Silent Autonomous Underwater Vehicle

Zeng

2020

Preprint

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“…Another important aspect regarding the proposed application that clearly influence the design of the energy storage system is represented by sustainability and environmental impact: these vehicles are typically proposed for monitoring environmentally sensitive areas in order to investigate quality of water [6] or to monitor relevant biometric parameters, pollution and so on [7] Typical applications are also related to the monitoring of marine areas conserving relevant cultural heritages such as underwater archaeological sites [10] [11]. All the above described activities are often performed also by underwater vehicles, but recent studies have also often focused their attention on the coordination between surface and underwater vehicles [12] [13], especially to better perform the localization of swarms.…”

Section: Introductionmentioning

confidence: 99%

Energy Storage System optimization for an Autonomous SailBoat

Boni

Montagni

Moreschi

et al. 2019

2019 IEEE 5th International Forum on Research and Technology for Society and Industry (RTSI)

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Available energy optimization on permanently non-grid-connected systems is a critical task. In fact, optimizing the power consumption of the active subsystems is only a part of getting an increased autonomy. A full optimization cannot be done without taking into consideration the energy source and the energy storage system, whose efficiency directly effect the total system autonomy. In this paper we present the optimization of the energy storage system for an autonomous sail drone, based on the use of solar panels connected to backup batteries. The proposed study represents a significant use case, not only for the importance and the impact of the proposed sail-drone but also for the involved field application (autonomous self-propelled selfsustained system) which is finding an increasing number of different application and a strong interest among the scientific community.

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“…Using reliable AUV can actively help in reducing the costs of the logistics (e.g., dedicated personnel piloting the vehicle is not needed, differently with respect to ROVs). In order to fulfil the AAG declared needs, the ARROWS technological researchers developed, among several other tools, MARTA (MArine Robotic Tool for Archaeology) AUV (Allotta et al, 2015b). The other adopted solution is the use of a cooperating team of heterogeneous AUVs with the double benefit of simpler and, thus, cheaper vehicles and of time-saving thanks to the possibility of tasks parallelization.…”

Section: Introductionmentioning

confidence: 99%

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

Allotta

Costanzi

Mugnai

et al. 2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Autonomous Underwater Vehicles (AUVs), benefiting from significant investments in the past years, are commonly used for military security and offshore Oil&Gas applications. The ARROWS project 1 , aimed at exporting the AUV technology to the field of underwater archaeology, a low-budget research field compared to the previous ones. The paper focuses on the strategy for vehicle coordination adopted within the project, a Search and Inspection (S&I) approach borrowed from the defense field (e.g., mine countermeasure -MCM) that proved to be an efficient solution also for the main phases of an underwater archaeological mission. The other main novelty aspect is represented by MARTA (MArine Robotic Tool for Archaeology) AUV: it is a modular vehicle easily and quickly reconfigurable developed in the framework of ARROWS according to the project Archaeological Advisory Group (AAG) guidelines. Results from the final demonstration of the project, held in Estonia during Summer 2015, are proposed in the paper as an experimental proof of the validity of the proposed S&I strategy, and MARTA functioning and its adaptability to the mission requirements. Even in its first prototype version, MARTA successfully played the Inspection role within the AUV team, collaborating with a commercial Search AUV. Acoustic and optical data collected during the mission and processed to increase their intelligibility for the human operator are proposed and discussed.

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Design of a modular Autonomous Underwater Vehicle for archaeological investigations

Cited by 26 publications

References 9 publications

Experimental and Numerical Investigation of Station Keeping Control for Ultra-Silent Autonomous Underwater Vehicle

Experimental and Numerical Investigation of Station Keeping Control for Ultra-Silent Autonomous Underwater Vehicle

Energy Storage System optimization for an Autonomous SailBoat

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

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