Exploring Hydrothermal Deposits with Multiple Autonomous Underwater Vehicles

Sato, Terukazu; Kim, Kangsoo; Inaba, Shogo; Matsuda, Takeya; Takashima, Sotaro; Oono, Atsuo; Takahashi, Daijiro; Oota, Kento; Takatsuki, Naoki

doi:10.1109/ut.2019.8734460

Cited by 9 publications

(3 citation statements)

References 6 publications

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“…O VER the past decade, interest in using multiple underwater unmanned vehicles (UUVs) for underwater cooperative operations has increased significantly [1], [2], [3]. The multiple UUVs cooperative system can simultaneously complete a variety of complex tasks, such as underwater pipeline monitoring [4], seabed topography mapping [5], subsea exploration [6], etc. Compared with single UUV, high work efficiency and good reliability make multiple UUVs cooperative system become a mainstream development trend and attract more and more attention.…”

Section: Introductionmentioning

confidence: 99%

A Novel Adaptive Sliding Observation-Based Cooperative Positioning Algorithm Under Factor Graph Framework for Multiple UUVs

Wang

Zhang

Gao

et al. 2023

IEEE Trans. Ind. Inf.

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In the leader-follower-based multiple underwater unmanned vehicles (UUVs) cooperative positioning system, the precision of the compass and Doppler velocity log equipped with the follower UUV is low, which will inevitably lead to yaw error and velocity error (YEaVE) in the output data. These errors will seriously affect the positioning accuracy of follower UUV. In addition, the observation information often has many outliers due to the influence of underwater multipath, which will cause the increase of the positioning error. Herein, we propose a novel adaptive sliding observation-based cooperative positioning algorithm under the factor graph framework. First, the influence mechanism of YEaVE on positioning accuracy of the follower UUV is analyzed. Thereafter, under the factor graph framework, a cooperative positioning algorithm based on maximum correntropy criterion is designed in which the estimation and compensation of YEaVE are innovatively added. At last, an adaptive sliding observation method is designed to deal with outliers in observation information. The proposed algorithm is verified by simulations and shipboard experiment, and the results show that it can accurately estimate the YEaVE. At the same time, compared with the ordinary factor graph algorithm, the positioning accuracy of the proposed algorithm has been improved by 88.31% and 81.63% in simulation and shipboard experiment.

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Section: Introductionmentioning

confidence: 99%

A Novel Adaptive Sliding Observation-Based Cooperative Positioning Algorithm Under Factor Graph Framework for Multiple UUVs

Wang

Zhang

Gao

et al. 2023

IEEE Trans. Ind. Inf.

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“…The coordinated operation of multiple equipment enables comprehensive and efficient biological surveys ( Nakamura et al., 2013 ), resulting in alternatives for the future development of deep-sea equipment. Pioneering works have demonstrated that an integrated, systematic, and advanced equipment system has been initially constructed, which will greatly promote the acquisition of information on extreme biological development ( Sato et al., 2019 ). However, it remains challenging to organically combine deep-sea technologies.…”

Section: Introductionmentioning

confidence: 99%

Role of deep-sea equipment in promoting the forefront of studies on life in extreme environments

et al. 2021

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Summary The deep-sea environment creates the largest ecosystem in the world with the largest biological community and extensive undiscovered biodiversity. Nevertheless, these ecosystems are far from well known. Deep-sea equipment is an indispensable approach to research life in extreme environments in the deep-sea environment because of the difficulty in obtaining access to these unique habitats. This work reviewed the historical development and the state-of-the-art of deep-sea equipment suitable for researching extreme ecosystems, to clarify the role of this equipment as a promoter for the progress of life in extreme environmental studies. Linkages of the developed deep-sea equipment and the discovered species are analyzed in this study. In addition, Equipment associated with researching the deep-sea ecosystems of hydrothermal vents, cold seeps, whale falls, seamounts, and oceanic trenches are introduced and analyzed in detail. To clarify the thrust and key points of the future promotion of life in extreme environmental studies, prospects and challenges related to observing equipment, samplers, laboratory simulation systems, and submersibles are proposed. Furthermore, a blueprint for the integration of in situ observations, sampling, controllable culture, manned experiments in underwater environments, and laboratory simulations is depicted for future studies.

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“…By using ROVs, marine operations such as salvage, observe, inspect and explore can be done quickly and efficiently over manual operations conducted by human divers [18]. There are various purposes of ROV including searching hydrothermal vent [19], plotting archaeological locations [20], installing underwater infrastructure such as cabling and piping [21] and ecological research [22].…”

Section: Introductionmentioning

confidence: 99%

Remotely Operated Unmanned Underwater Vehicle for Inspection

Aliff*,

Firdaus,

Rosli

et al. 2019

IJITEE

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Nowadays, in technology, humans use machines, mobile devices and robots to make the work easier, effective and faster. However, in Malaysia, there is still a lack of underwater vehicles used for inspection or investigation on the seafloor. The aim of this project is to develop the Remotely Operated Unmanned Underwater Vehicle for underwater Inspection (ROU-VUI) which has a compact size and low cost. This mobile device will act as a pre-screening for detecting underwater problems and for explorations where high-resolution cameras are used for real-time monitoring and recording the video for further analysis. The controller used is Arduino microcontroller and MDSS10A smart drive motor to control the movement of the mobile. The graphical user interface (GUI) LabVIEW is designed to make the inspection and monitoring process easier when it is in the water. An operator will observe the underwater vehicle via a camera that links to the smart phone and graphical user interface.

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Exploring Hydrothermal Deposits with Multiple Autonomous Underwater Vehicles

Cited by 9 publications

References 6 publications

A Novel Adaptive Sliding Observation-Based Cooperative Positioning Algorithm Under Factor Graph Framework for Multiple UUVs

A Novel Adaptive Sliding Observation-Based Cooperative Positioning Algorithm Under Factor Graph Framework for Multiple UUVs

Role of deep-sea equipment in promoting the forefront of studies on life in extreme environments

Remotely Operated Unmanned Underwater Vehicle for Inspection

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