Ship of opportunity launch and recovery system for REMUS 600 AUV's

Rauch, Chris; Purcell, Michael; Austin, Thomas; Packard, G.

doi:10.1109/oceans.2008.5151832

Cited by 7 publications

(3 citation statements)

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“…Many are used for underwater inspection of sub-sea cables, oil and gas installations, and pipelines. However for search and rescue (SAR) applications involving launch and recovery tasks [2][3][4][5], an autonomous underwater vehicle (AUV) has become useful due to more reliance on sensor technology [6], rather than crewed workboats, remotely-operated vehicle (ROV), and expensive on-site labour. However, human intervention is often required for the initial launching and recovery operation in the event of high sea state [7,8] and in limited visibility at night.…”

Section: Introductionmentioning

confidence: 99%

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

Lin

Chin

Looi³

et al. 2015

Robotics

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Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonomous underwater vehicle (AUV) named AUVDH using a combination of software tools allows the prototyping process to be unified. This process provides systematic design from mechanical, hydrodynamics, dynamics modelling, control system design, and simulation to testing in water. As shown in a three-dimensional simulation of an AUVDH model using MATLAB™/Simulink™ during the launch and recovery process, the control simulation of a sliding mode controller is able to control the positions and velocities under the external wave, current, and tether forces. In the water test using the proposed Python-based GUI platform, it shows that the AUVDH is capable to perform station-keeping under the external disturbances. OPEN ACCESSRobotics 2015, 4 493

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Section: Introductionmentioning

confidence: 99%

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

Lin

Chin

Looi³

et al. 2015

Robotics

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“…Hydrodynamic modeling of AUH-Ship interactions near or on a free surface is challenging [26,27]. Intrinsically, waves are irregular, unsteady, nonuniform fluids with frequent breaking and vertexing effects.…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic-Interaction Analysis of an Autonomous Underwater Hovering Vehicle and Ship with Wave Effects

Chen

Cai

2019

Symmetry

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A new vertical axis-symmetrical dish-shaped autonomous underwater vehicle (AUV) with excellent maneuverability, known as the autonomous underwater hovering vehicle (AUH), is proposed. This study investigates an important working model of the AUH approaching a host ship in waves. The working model of AUH–Ship interactions deals with hydrodynamic interaction, seakeeping performance for communication, launch, and recovery near a free surface. The AUH is able to navigate and implement homing automation through acoustic positioning equipment, a depth sensor, a heading compass, and a Doppler velocity log (DVL) in the working area based on numerical analysis of AUH–Ship hydrodynamic performance in this study. The hydrodynamic-interaction performance of the AUH and ship near free surfaces is analyzed in the frequency and time domains using a potential-based surface-panel method based on a commercial computational fluid dynamics (CFD) solver (ANSYS-AQWA), i.e., a 3D panel code of seakeeping performance module in the ANSYS platform where the fluid is assumed to be irrotational, inviscid, and incompressible. The motion performance of the AUH approaching the host ship, with a dynamic positioning system in waves, is studied by estimating interactive response-amplitude operators (RAOs) of the AUH and host ship in 6-DOF that were estimated and analyzed at different wave amplitudes and frequencies. In the ship and AUH interaction simulations, the host ship is assumed to be a well-posed station keeping in waves with zero service speed. The AUH and ship interference effect is studied at different distances to appropriate recovery and launch positions for the AUH at the following sea and beam sea, i.e., wave-encounter angles 0° and 90°, respectively. In addition, the hydrodynamic interaction of the AUH and ship in yaw and roll at different AUH velocities is estimated. The AUH motion performance approaching the ship in long-crested irregular seas is analyzed in the time domain using the Pierson–Moskowitz wave spectrum model. Viscid hydrodynamic force on AUH motion in roll near a free surface was significant. A damping model was adopted to formulate the viscid effect to enhance the effectiveness of the ANSYS-AQWA inviscid potential-based solver. Numerical analysis of motion RAO of the AUH in roll with the damping effect was compared to the experimental data in wave-frequency range 0.2–1.0 Hz, resulting in the average error being reduced from 21.03% to 9.95% to verify the method’s accuracy. The proposed method conveniently and accurately predicted hydrodynamic-interaction characteristics and motion RAO for a dish-type AUH and host ship for the precise use of mounted sensors in waves. The results of these simulations can be used to analyze the homing automation and adaptive controllability to advance the AUV development and design.

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“…However for search and rescue (SAR) applications involving launch and recovery tasks [2][3][4][5], the application of both ROV and AUV are very important. The need for the system to enable routine SAR missions with a greater reliance on sensor technology [6], rather than crewed workboats and expensive on-site labour, has been recognized for some time.…”

Section: Introductionmentioning

confidence: 99%

Remote robust control and simulation of robot for search and rescue mission in water

Lin

Chin

Ehsan

2014

Oceans 2014 - Taipei

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Dynamic modeling and simulation of remotely-operated vehicle (ROV) are essential for search and rescue mission using AUV in remote distance. For initial model, hydrodynamic coefficients used in the ROV dynamic model are estimated using computation and analytical methods. The control strategy from launch to recovery is simulated using MATLAB TM and Simulink TM software. A three-dimension animation for ROV underwater operation is used to visualize the launch and recovery process of the AUV. The control simulation using a sliding mode controller (SMC) is designed to control the surge, sway, heave and yaw positions and velocities of the ROV under the sea wave and current disturbances. Simulated results show that the ROV is able to capture the AUV under the effect of current and wave disturbances.

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Ship of opportunity launch and recovery system for REMUS 600 AUV's

Cited by 7 publications

References 0 publications

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

Hydrodynamic-Interaction Analysis of an Autonomous Underwater Hovering Vehicle and Ship with Wave Effects

Remote robust control and simulation of robot for search and rescue mission in water

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