Autonomous underwater vehicle

Craven, P.J. (1999) Intelligent Control Strategies for an Autonomous Underwater Vehicle, PhD Thesis, Department of Mechanical and Marine Engineering, University of Plymouth, UK. Craven, P.J., Sutton, R. and Burns, R.S. (1997) Intelligent Course Changing Control of an Autonomous Underwater Vehicle. In Twelfth International Conference on Systems Engineering, Coventry, UK, September, 1, pp. 159-164. 

Pearson, A.R., Sutton, R., Burns, R.S. and Robinson, P. (2000) A Kalman Filter Approach to Fault Tolerance Control in Autonomous Underwater Vehicles. In Proc. 14th International Conference on Systems Engineering, Coventry, 12-14 September, 2, pp. 458 63. 

Figure ll ICx Technologies SeaDog underwater explosives detection sensor mounted on an autonomous underwater vehicle. Figure courtesy of ICxTechnologies. 

The second box contains a peristaltic pump and a servoactuator. Both the pump and servo are controlled electrically from the sensing head and are powered from the same power supply. The separation of the sensing head from the pump and servo provide electrical and mechanical isolation and address space constraints associated with mounting the system on the autonomous underwater vehicle. The peristaltic pump enables operation at a variable flow rate and has bidirectional flow capability. The servo actuates a movable sample inlet tube that can be raised or lowered by remote control to enable precise positioning of the inlet relative to the source or in the source plume. 

To our knowledge, this is the first demonstration of a sensor capable of realtime detection of a TNT plume in the marine environment at standoff distances (up to 100 m from the source) while deployed on an autonomous underwater vehicle. The sensor has shown virtually no sensitivity to chemical interferent during testing in the marine environment. While the sensitivity of the detector is excellent, its sensitivity is not adequate at its present state of development to... 

In 2001, the Fido system was modified to operate underwater and became known as the SeaDog. The U.S. Navy Office of Naval Research (ONR), under its Chemical Sensing in the Marine Environment (CSME) Program, funded the integration of the SeaDog with an autonomous underwater vehicle (AUV). The integrated system was able to map a plume of trinitrotoluene (TNT) in open water in real time. This was the first demonstration of the mapping of an explosive plume underwater in real time [9, 10],... 

Autonomous underwater vehicle Improvised Munitions Black Book Vol. 1 l/,3-Dihydro-l/-(2-carboxyethyl)-3,3-dimethyl-6-nitrospiro [2H-1 -benzopyran-2,2/-(2H)-indoline]... 

Fig. 7. Electrochemical explosive sensor mounted on the autonomous underwater vehicle (AUV). The three-electrode assembly (on the cone nose of the vehicle) is shown on the right side.

M. Herman and J.S. Albus, Overview of the Multiple Autonomous Underwater Vehicles Project, IEEE International Conference on Robotics and Automation, Philadelphia, PA, 1988... 

Hasvold, O. Lian, T. Haakaas, E. Storkersen, N. Perelman, O. Cordier, S. CLIPPER a long-range, autonomous underwater vehicle using magnesium fuel and oxygen from the sea. J. Power Sources. 2004, 136 (2), 232-239. 

Robbins, I.C., Kirkpatrick, G.J., Blackwell, S.M., Hiller, J., Knight, C.A. and Moline, M.A. Improved monitoring of HABs using autonomous underwater vehicles (AUV), Harmful Algae, 5, 749-761, 2006. 

The batoids swim solely by the movement of their greatly expanded pectoral fins, which are flapped vertically in a way similar to the flight of birds. This kind of movement is called oscillatory locomotion and is considered extremely energy efficient. The manta ray is also considered the most evolutionarily advanced batoid fish. Also, manta rays may be over 6 meters wide and weigh over 1580 kg. These parameters make them comparable in size with autonomous underwater vehicles (AUVs) and thus eliminate the problems associated with scalability. For these three reasons, manta rays have caught the attention of researchers, just as humpback whales became the focus of research because of their extreme maneuverability. 

With the exception of No. 7, these requirements are very similar to the requirements used by nature to develop the family of Batoid fishes, which live mostly in the littoral zone (close to the coast), as future AUVs will also operate in this zone. In this context, it is not surprising that the manta ray, the most evolutionarily advanced and sophisticated batoid, has been chosen by researchers as a source of bioinspiration to develop the next generation of bioinspired autonomous underwater vehicles or BAUVs. 

On the use of expert judgment elicitation for autonomous underwater vehicle risk prediction and management... 

Dowdeswell, J.A. Evans,. etal., 2008. Autonomous underwater vehicles (AUVs) and investigations of the ice-ocean interface in Antarctic and Arctic waters. Journal of Glaciology, 54, 187, 661-672. 

Griffiths, G., N.W Millard, S.D. McPhail, P. Stevenson and P.G. Challenor, 2003. On the Reliability of the Autosub Autonomous Underwater Vehicle. Underwater Technol-o 25(4) 175-184. 

McPhail, S.D. and Pebody, M., 1998. Navigation and control of an autonomous underwater vehicle using a distributed, networked, control architecture. Underwater Technology,... 

Nicholls, K.W., et al., 2006. Measurements beneath an Anatarctic ice shelf using an autonomous underwater vehicle. Geophysical Research Letters, 33, L08612, doi 10.1029/2006GL025998 4pp. 

Stevenson, P., Millard, N.,W., McPhail, S.D., Riggs, J., White, D., Pebody, M., Perrett, J.R, Webb, A.T., 2003a. Engineering an Autonomous Underwater Vehicle for Under Ice Operations. In, Proceedings of OMAE2003, 22" International Conference on Offshore Mechanics and Arctic Engineering, 8-13 June Cancun, Mexico. 

Vaugham, D.G., 2007. Ice/Ocean interactions Urgent questions for AUVs. In Collins, K.J. and Griffiths, G. (eds.) 2008. Proceedings of the International Workshop on Autonomous Underwater Vehicle Science in Extreme Environments held at the Scott Research Institute, Cambridge, 11-13 April 2007. London Society for Underwater Technology, 2002. 

Keywords Autonomous underwater vehicles Group control Mission planning Transport routing problem Evolutionary algorithms... 

Chow, B., Clark, C.M., Huissoon, J.P. Assigning closely spaced targets to multiple autonomous underwater vehicles. Journal of Ocean Technology 6(1), 46-68 (2011)... 

Deng, Y., Beaujean, P.-P.J., An, E., Carlson, E. Task allocation and path planning for collaborative autonomous underwater vehicles operating through an underwater acoustic network. Journal of Robotics 2013, 1-15 (2013)... 

Bychkov, I.V., Kenzin, M.Yu., Maksimkin, N.N., Kiselev, L.V. Evolutionary approach to group routing of autonomous underwater vehicles in dynamic multiobjective monitoring missions. Underwater Investigation and Robotics 2(18), 4-13 (2014). (In Russian)... 

An application that has recently benefltted from the use of ferroelect polymers is autonomous underwater vehicle (AUV) hydrophones and conformal arrays (8.9]. These sensors need to operate over wide frequency bands. They are also designed to be mounted in or on cylindrical shell structures. The main need for these types of hydrophones and arrays is for obstacle avoidance, navigation, and target detection. Tb accomplish this it is necessary to maintain systems with high directivity resolution, reduced side-lobe levels, and high element-to-elcment uniformily. From a manufacturing viewpoint, U is desired to have low cost, ease of fabrication, low weight and volume, and minimal field profile. 

Autonomous underwater vehicle, powered by batteries, often with cameras but other equipmeht e.g. multibeam, CTD... 

Williams SB, Pizarro OR, Jakuba MV, Johnson CR, Barrett NS, Babcock RC et al (2012) Monitoring of benthic reftaence sites using an autonomous underwater vehicle. IEEE Robot... 

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