Hull inspection and confined area search capabilities of REMUS autonomous underwater vehicle

Packard, G.; Stokey, R.; Christenson, Reed; Jaffré, Frederic; Purcell, Michael; Littlefield, Robin

doi:10.1109/oceans.2010.5664593

Cited by 17 publications

(9 citation statements)

References 5 publications

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“…In some cases, design endurances Conventional designs typically require forward motion for control, but some designs called hovering AUVs or over-actuated AUVs (such as Delphin2 and ARTEMIS, Figure 4) have precise station-keeping for tasks such as inspection (Philips et al, 2013;Albiez et al, 2015). Conventional AUVs such as REMUS have also been experimentally fitted with such capabilities (Packard et al, 2010). Intervention AUVs build upon the capability of hovering AUVs to add manipulator arms and other devices to begin to match the capability of ROVs (Ridao et al, 2015).…”

Section: Thruster-driven Subsurface Vehiclesmentioning

confidence: 99%

Future Vision for Autonomous Ocean Observations

Whitt¹,

Pearlman²,

Polagye

et al. 2020

Front. Mar. Sci.

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Whitt et al. Future of Autonomous Ocean Observations reductions. Cost reductions could enable order-of-magnitude increases in platform operations and increase sampling resolution for a given level of investment. Energy harvesting technologies should be integral to the system design, for sensors, platforms, vehicles, and docking stations. Connections are needed between the marine energy and ocean observing communities to coordinate among funding sources, researchers, and end users. Regional teams should work with global organizations such as IOC/GOOS in governance development. International networks such as emerging glider operations (EGO) should also provide a forum for addressing governance. Networks of multiple vehicles can improve operational efficiencies and transform operational patterns. There is a need to develop operational architectures at regional and global scales to provide a backbone for active networking of autonomous platforms.

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Section: Thruster-driven Subsurface Vehiclesmentioning

confidence: 99%

Future Vision for Autonomous Ocean Observations

Whitt¹,

Pearlman²,

Polagye

et al. 2020

Front. Mar. Sci.

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“…Operating safely in complex terrains and with a requirement to undertake surveys of well-defined areas of interest (e.g., archaeological ship wreck surveys, Gracias et al, 2013;Roman & Mather, 2010), the lower operational speed (Gracias et al, 2013;Marouchos, Muir, Babcock, & Dunbabin, 2015;Nishida et al, 2014b;Smale et al, 2012) combined with the power consumption of the thrusters increases the time and energy cost per covered area (Nishida et al, 2015;Smale et al, 2012). Attempting to compromise between the two options, several hover-enhanced flightstyle vehicles have been developed (e.g., Packard et al, 2010;Phillips et al, 2013;Wynn et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Experimental analysis of low‐altitude terrain following for hover‐capable flight‐style autonomous underwater vehicles

Schillai

Turnock

Rogers

et al. 2019

Journal of Field Robotics

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Operating an autonomous underwater vehicle (AUV) in close proximity to terrain typically relies solely on the vehicle sensors for terrain detection, and challenges the manoeuvrability of energy efficient flight‐style AUVs. This paper gives new results on altitude tracking limits of such vehicles by using the fully understood environment of a lake to perform repeated experiments while varying the altitude demand, obstacle detection and actuator use of a hover‐capable flight‐style AUV. The results are analysed for mission success, vehicle risk and repeatability, demonstrating the terrain following capabilities of the overactuated AUV over a range of altitude tracking strategies and how these measures better inform vehicle operators. A major conclusion is that the effects of range limits, bias and false detections of the sensors used for altitude tracking must be fully accounted for to enable mission success. Furthermore it was found that switching between hover‐ and flight‐style actuations based on speed, whilst varying the operation speed, has advantages for performance improvement over combining hover‐ and flight‐style actuators at high speeds.

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“…Several oceanic operations are essential for marine rescue, offshore exploration, and industrial use [1]. Impressive results of highly integrated underwater vehicles have been achieved, including the REMUS-100 autonomous underwater vehicle (AUV) [2], Bluefin AUV [3], Autosub (AUV) [4], Hugin AUV [5], Seaeye Falcon remote operated vehicle (ROV) [6], H2000 ROV of the French ECA group, SMD ROV [7], ALIVE I-AUV [8], SAUVIM I-AUV [9], and Girona 500 I-AUV [10].…”

Section: Introductionmentioning

confidence: 99%

Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles

Huang

Zhang

et al. 2018

Chin. J. Mech. Eng.

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Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments. To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore, path-following experiments for a tethered open frame remote operated vehicle were verified for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verified the effectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Hull inspection and confined area search capabilities of REMUS autonomous underwater vehicle

Cited by 17 publications

References 5 publications

Future Vision for Autonomous Ocean Observations

Future Vision for Autonomous Ocean Observations

Experimental analysis of low‐altitude terrain following for hover‐capable flight‐style autonomous underwater vehicles

Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles

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