Design of an Underwater Vehicle for use in Basin Experiments, Development of MARIN’s Modular AUV

Cozijn, Hans; Schaaf, Haite van der; Kruif, Bas de; Ypma, Egbert

doi:10.1016/j.ifacol.2019.12.277

Cited by 7 publications

(6 citation statements)

References 5 publications

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“…Other hydrobatic robots include MARINS (Maritime Research Institute Netherlands) modular AUV (mAUV) ( Cozijn et al, 2019 ) and the SAM AUV developed by the Swedish Maritime Robotics Center (SMaRC) ( Bhat et al, 2022 ). In contrast to the Cuttlefish, both have a streamlined torpedo shape and are not intended for use in intervention tasks.…”

Section: Current Technologymentioning

confidence: 99%

“…In contrast to the Cuttlefish, both have a streamlined torpedo shape and are not intended for use in intervention tasks. According to Cozijn et al ( Cozijn et al, 2019 ), the mAUV is highly overactuated using 4 stern thrusters and two vertical and horizontal thrusters at the bow and stern. Additionally, a moveable mass and a buoyancy trim system is integrated.…”

Section: Current Technologymentioning

confidence: 99%

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Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Nauert,

Kampmann

2023

Front. Robot. AI

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Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous Underwater Vehicles (intervention-AUVs) can greatly reduce operation time, risk, and cost. However, autonomous underwater manipulation has not yet reached a high technological readiness and is an intensively researched topic. This review identifies key requirements based on necessary inspection and maintenance methods, linking them to the current technology and deriving major challenges which need to be addressed in development. These include the handling of tools, where a separation between handheld and mounted tools is detected in already employed underwater intervention vehicles such as the Sabertooth by Saab Seaeye or the Aquanaut by Nauticus robotics, two vehicles capable of semi-autonomous intervention. The main challenge identified concerns high level autonomy, i.e., the process of decision-making. This process includes detecting the correct point of interest, maximizing the workspace of the manipulator, planning the manipulation considering required forces, and monitoring the progress to allow for corrections and high quality results. In order to overcome these issues, reliable close range sensing and precise end point navigation is needed. By identifying these persisting challenges, the paper provides inspiration for further development directions in the field of autonomous underwater intervention.

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Section: Current Technologymentioning

confidence: 99%

Section: Current Technologymentioning

confidence: 99%

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Nauert,

Kampmann

2023

Front. Robot. AI

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“…The AUV industry has also seen an increased interest in modular design, which enables easier manufacturing and maintenance, as well as higher flexibility and customisation [21]. The MARIN AUV [22], MARTA [23], and Bluefinn-21 (developed by Bluefin Robotics) are some examples. For the design of new products, including AUV subsets, it is essential to undertake scientific techniques that lead to the best result possible.…”

Section: Introductionmentioning

confidence: 99%

Application of a Design for Excellence Methodology for a Wireless Charger Housing in Underwater Environments

2022

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A major effort is put into the production of green energy as a countermeasure to climatic changes and sustainability. Thus, the energy industry is currently betting on offshore wind energy, using wind turbines with fixed and floating platforms. This technology can benefit greatly from interventive autonomous underwater vehicles (AUVs) to assist in the maintenance and control of underwater structures. A wireless charger system can extend the time the AUV remains underwater, by allowing it to charge its batteries through a docking station. The present work details the development process of a housing component for a wireless charging system to be implemented in an AUV, addressed as wireless charger housing (WCH), from the concept stage to the final physical verification and operation stage. The wireless charger system prepared in this research aims to improve the longevity of the vehicle mission, without having to return to the surface, by enabling battery charging at a docking station. This product was designed following a design for excellence (DfX) and modular design philosophy, implementing visual scorecards to measure the success of certain design aspects. For an adequate choice of materials, the Ashby method was implemented. The structural performance of the prototypes was validated via a linear static finite element analysis (FEA). These prototypes were further physically verified in a hyperbaric chamber. Results showed that the application of FEA, together with well-defined design goals, enable the WCH optimisation while ensuring up to 75% power efficiency. This methodology produced a system capable of transmitting energy for underwater robotic applications.

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“…Xu et al [23] presented the design of an AUV for hydrological surveying of plateau rivers and lakes. Cozijn et al [24] reported the design and construction of a modular AUV to be used for research projects at the Maritime Research Institute Netherlands (MARIN).…”

Section: Introductionmentioning

confidence: 99%

“…However, nowadays it is possible to find recent reports regarding the development of hardware architectures for robotic systems [40][41][42][43] and marine vehicles [44][45][46][47][48][49][50] that have evolved considerably ever since. Nonetheless, several recent developments of marine vehicles reported in the literature [16][17][18]20,21,[23][24][25]30,51,52] do not consider a functional-division-based design process that facilitates the integration of components and subsystems, which is desired for modular hardware architectures.…”

Section: Introductionmentioning

confidence: 99%

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

Aristizábal

Zuluaga

Rúa

et al. 2021

JMSE

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This paper addresses the development of a modular hardware architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. The Vee model is first presented as a sequential process that emphasizes the validation processes with stakeholders and verification plans in the development and production stages of the ROV’s life cycle. The conceptual design process starts with the mapping of user requirements to engineering specifications, using the House of Quality (HoQ), a quality function deployment tool that allows executing a functional-division-based hardware design process that facilitates the integration of components and subsystems, as desired for modular architectures. Then, the functional division and hardware architectures are described, and their connection is made through the proposed system architecture that sets the foundation for the definition of a physical architecture, as it involves flows that connect abstract functions with a real context. Development and production stages are exemplified through the design, construction, and integration of some hardware components needed for the remotely operated vehicle Pionero500, and the operational stage briefly describes the first sea trials conducted for the ROV. Systems engineering has shown to be a very useful tool for the development of marine vehicles and marine engineering projects that require modular architectures.

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Design of an Underwater Vehicle for use in Basin Experiments, Development of MARIN’s Modular AUV

Cited by 7 publications

References 5 publications

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Application of a Design for Excellence Methodology for a Wireless Charger Housing in Underwater Environments

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

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