Enabling technologies for REMUS docking: an integral component of an autonomous ocean-sampling network

Stokey, R.; Allen, B.; Austin, Thomas; Goldsborough, R.; Forrester, N.; Purcell, Michael; Alt, C. von

doi:10.1109/48.972082

Cited by 102 publications

(47 citation statements)

References 12 publications

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“…Then the MIT Sea Grant built Odyssey I and II for oceanographic research, with component costs of $50,000 and $75,000, respectively (Bellingham et al, 1993). Hydroid's REMUS (Allen et al, 1997;Stokey et al, 2001) and GAVIA AUV, developed by WHOI and Hafmynd, respectively, are small commercially available AUVs with diameters less than 25 cm. MOERI-KORDI has a big square basin, OEB, for simulation of real sea conditions.…”

Section: Basic Design Conceptmentioning

confidence: 99%

“…Despite the considerable improvement in AUV performance, however, AUV technologies are still attractive to scientists and engineers as a challenging field. For example, multiple AUVs and underwater docking are recent challenging issues in the field of AUV technologies (Edwards et al, 2004;Fiorelli et al, 2004;Stokey et al, 2001;Singh et al, 2001). To successfully implement these new technologies in the field, a number of sub-functions have to be tested and verified in advance.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of Test-Bed AUV 'ISiMI' and Underwater Experiments on Free Running and Vision Guided Docking

Park¹,

Jun²,

Lee³

et al. 2009

Underwater Vehicles

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Section: Basic Design Conceptmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of Test-Bed AUV 'ISiMI' and Underwater Experiments on Free Running and Vision Guided Docking

Park¹,

Jun²,

Lee³

et al. 2009

Underwater Vehicles

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“…Notable among these are the WHOI-MIT-AOSN dock [15], EURO-DOCKER [17], REMUS dock [64,65] and the Kawasaki Docking System [33]. All these systems have been quite successful and employ different ideas to deal with the problem of docking.…”

Section: Typical Sensor Suite On a Surveying Auvmentioning

confidence: 99%

Design considerations for engineering autonomous underwater vehicles

Shah¹

2007

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Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and remotely operated vehicles (ROV) technology. AUVs are attractive as cheaper and efficient alternatives to the older technologies and are breaking new ground in many applications. Designing an autonomous vehicle to work in the harsh environment of the deep ocean comes with its set of challenges. This paper discusses how the current engineering technologies can be adapted to the design of AUVs.Recently, as the AUV technology has matured, we see AUVs being used in a variety of applications ranging from sub-surface sensing to sea-floor mapping. The design of the AUV, with its tight constraints, is very sensitive to the target application. Keeping this in mind, the goal of this thesis is to understand how some of the major issues affect the design of the AUV. This paper also addresses the mechanical and materials issues, power system design, computer architecture, navigation and communication systems, sensor considerations and long term docking aspects that affect AUV design.With time, as the engineering sciences progress, the AUV design will have to change in order to optimize its performance. Thus, the fundamental issues discussed in this paper can assist in meeting the challenge of maintaining AUV design on par with modern technology.

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“…( [1], [2], [3], [4], [5], [6], [7], [8]). The most common solution is a funnel shaped entrance and a latching system that holds and connects the vehicle, together with a straight line trajectory that guides the vehicle inside the docking station [9], [10].…”

Section: Introductionmentioning

confidence: 99%

A hybrid approach to underwater docking of AUVs with cross-current

Sans-Muntadas

Pettersen

Brekke

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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Abstract-This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is unable to control its sway motion, to dock with no crab angle, in the presence of cross-currents. Docking without a crab angle can be beneficial in cases where the geometry of the docking station entrance does not allow entering with crab angles.In order to successfully dock under such restrictions, a path planner and two guidance laws are proposed. By properly switching between the two guidance laws, it is possible for the vehicle to slide cross-current into the docking station.

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Enabling technologies for REMUS docking: an integral component of an autonomous ocean-sampling network

Cited by 102 publications

References 12 publications

Development of Test-Bed AUV 'ISiMI' and Underwater Experiments on Free Running and Vision Guided Docking

Development of Test-Bed AUV 'ISiMI' and Underwater Experiments on Free Running and Vision Guided Docking

Design considerations for engineering autonomous underwater vehicles

A hybrid approach to underwater docking of AUVs with cross-current

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