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This paper describes the process of designing a GUI (Graphical user interface) for a remotely operated quadrotor UAV. In the process of building this quadrotor project, SolidWork 2009 software was used to develop the prototype before the actual model is made. An IMU sensor is used to measure the orientation of the quadrotor which is processed by a microcontroller to indicate the current orientation...
Keeping our ports and waterways safe from threats has become increasingly relevant. Hull and harbor infrastructure inspections are not performed regularly as they are time consuming, require careful planning and involve a huge amount of risk as well as human and monetary resources. An Autonomous Underwater Vehicle (AUV)-based approach will speed up operations and help locate and identify possible...
Historically, the task of monitoring and mapping fragile coastal ecosystems in comparatively shallow depths (less than 300 meters) has been a challenge. Divers can collect some information, sonars can do extensive acoustic study, and Autonomous Underwater Vehicles (AUVs) are playing an increasing role. However, ground truthing, fish counts, detailed coral health studies, and other tasks can require...
The Wave Glider, a wave-powered unmanned maritime vehicle (UMV), represents a novel and unique approach to persistent ocean presence. Wave Gliders harvest the abundant energy contained in ocean waves to provide essentially limitless propulsion. The Wave Glider can operate as a vessel, covering long distances in the ocean, or as a station-keeping platform. Wave Gliders have demonstrated long open-ocean...
Inspection Repair and Maintenance (IRM) of Deepwater Oil and Gas infrastructure is currently limited to the capability provided by today's work class Remotely Operated Vehicles. A significant portion of ROV operations underutilize their work capabilities for routine tasks such as inspection, survey, and light intervention and yet still require large dynamically positioned surface vessels and large,...
This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of...
This work considers the re-design of an autonomous underwater vehicle (AUV) in which an innovative, neurobiological inspired sensorization control system is being implemented. Hardware architecture and sensorization control software are being developed to allow autonomous navigation procedures for submarine vehicles. After the refurbishment of the vehicle and the update of its control system, the...
Advanced AUV's, particularly those capable of long duration missions, need increasing amounts of autonomy in order to carry out sophisticated missions without requiring constant support from a ship. One important aspect of this autonomy is fault detection and execution monitoring. In this paper we describe the application of the Livingstone 2 diagnosis system on Autosub 6000 and examine in particular...
Autonomous underwater vehicles are commonly used for ocean exploration and this research illustrates one of their typical applications. Here, a practical mapping and sampling mission for the summit of the Loihi submarine volcano, a seismically active seamount southeast of the Island of Hawaii, is designed and simulated. Mapping the underwater volcano is safety-critical for monitoring earthquakes and...
This paper describes the design of a biointeractive AUV that has abilities to monitor schools of fish interactively. In the very large ocean it is very difficult to understand the habits of a swimming fish because the visibility of camera and range of sonar are limited while they swim widely. It is also hard to apply bio-logging techniques to fish because loggers are still large and heavy for them,...
Over the past decades, the design and development of mission based Autonomous Underwater Vehicle (AUV) continues to challenge researchers. Although AUV technology has matured and commercial systems have appeared in the market, a generic yet robust AUV command and control (C2) system still remains a key research area. This paper presents a command and control system architecture for modular AUVs. We...
In this work, a dynamic graphical model of operating modes of intelligent and autonomous multi inputs multi outputs (MIMO) vehicles is presented. This study shows the feasibility of improving the traffic management and decision inside confined space according to the operating situation of each involved vehicle. The proposed dynamic graphical model depends on the on-line monitoring outputs of the vehicles'...
Major programs such as the Ocean Observatories Initiative (OOI) seek to increase societal understanding of subsurface marine environments. This interest has arisen because of environmental concerns related to degradation of marine habitats, climate change, as well as the globally increasing demand for marine natural resources, particularly food and energy. These pressures now affect marine systems...
To keep the precious protein source, it is thus extremely important to conserve the biodiversity of the ocean and at the same time to make use of its limited space as much as possible without doing any environmental harm. With this broad objective in mind, Tokyo University of Marine Science and Technology (TUMSAT) and Mitsui Engineering & Shipbuilding Co., Ltd. have started a research and development...
This paper describes the design and initial positive evaluation of a prototype adaptive automation system to create an enhanced command and control (C2) infrastructure for more effective operation of unmanned vehicles. Our main project objective is to apply recent advances in cognitive engineering and display automation to create Technology for Enhanced Command and Control of Small Robotic Assets...
To increase reliability and real time of the unmanned surface vehicle (USV), research on system design and implement of USV was completed. Introduces the hardware architecture of the control system and clarifies the function of all parts. The software architecture is designed based on the VxWorks real-time operating system. The USV control system adopts a three layered hierarchical architecture, includes...
In this paper we report our research on the development of an open web-based architecture for controlling the behavior of systems composed of static sensors, mobile sensors and unmanned vehicles. We document the first implementation of the architecture and describe its application to our vehicles and sensors. We discuss the validation of this implementation in real-world deployments where one or more...
This paper discusses the requirements, design, construction and development of the ALuminum Autonomous Navigator for Intelligent Sampling (ALANIS), an unmanned surface vehicle (USV) developed by the Autonomous robotic systems and control group of CNR-ISSIA Genova basically for coastal monitoring. The onboard automation system of the rubber boat shaped aluminum vessel manages the steering and throttle...
In the complex and uncertain ocean environments, and under the conditions of current and sensor noises, multiple autonomous underwater vehicles (multi-AUV) keep a spatial formation to survey a large-scale unknown area with real-time obstacle avoidance ability. This paper presents a new behavior fusion method using fuzzy logic for coordinating multiple reactive behaviors. The inputs to the proposed...
The Naval Oceanographie Office collects subbottom acoustic data using the Remote Environmental Monitoring Units (REMUS) Autonomous Underwater Vehicle (AUV). The subbottom data are processed using customized playback software that creates a subbottom profile image that can be integrated into ArcGIS 9.2. A REMUS AUV test survey was recently completed that obtained quality subbottom profiler data that...
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