Navigation and control of the Nereus hybrid underwater vehicle for global ocean science to 10,903 m depth: Preliminary results

Whitcomb, Louis L.; Jakuba, Michael V.; Kinsey, James C.; Martin, Stephen C.; Webster, Sarah E.; Howland, Jonathan C.; Taylor, Chris; Gomez-Ibañez, Daniel; Yoerger, D.

doi:10.1109/robot.2010.5509265

Cited by 39 publications

(20 citation statements)

References 15 publications

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“…More recently, there have been experiments with wireless operation of the NEREUS vehicle, both over acoustic and optical links [32,249]. In these experiments, feedback loops for the manipulator arms were closed onboard the vehicle, with only joint positions and parameter settings sent over the wireless link to avoid stability issues.…”

Section: Teleoperationmentioning

confidence: 99%

Controller design for underwater vehicle systems with communication constraints

Reed¹

2015

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Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater, communication over distances beyond about one hundred meters is almost exclusively accomplished through acoustics, which bring challenges such as propagation delays, low data rates, packet loss, and scheduling constraints due to interference and limited bandwidth. These limitations make underwater pursuit missions preeminent applications of networked control. Motivated by such applications, this thesis presents contributions towards multi-vehicle feedback control in the presence of severe communication constraints.The first major area of work considers the formulation and solution of new underwater multi-vehicle tracking and pursuit problems using closed-loop control. We begin with a centralized robust optimization approach for multicast routing and power control which is suitable for integration with vehicle control. Next, we describe field experiments in range-based target pursuit at high tracking bandwidths in a challenging shallow-water environment. Finally, we present a methodology for pursuit of dynamic ocean features such as fronts, which we validate using hindcast ocean model data. The primary innovation is a projection algorithm which carries out linearization of ocean model forecast dynamics and uncertainty directly in vehicle coordinates via a forward model technique. The resulting coupled linear stochastic system is suitable for networked control.The second area of work presents a unified formalism for multi-vehicle control and estimation with measurement, control, and acknowledgment packets all subject to scheduling, delays and packet loss. The modular framework we develop is built around a jump linear system description incorporating receding horizon optimization and buffering at actuators. Integration of these elements enables synthesis of a novel technique for estimation using delayed and lossy control acknowledgments-a desirable and practical capability of fielded systems that has not been considered to date.Simulations and field experiments demonstrate the effectiveness of our approach.

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Section: Teleoperationmentioning

confidence: 99%

Controller design for underwater vehicle systems with communication constraints

Reed¹

2015

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“…Sentry navigates in real time using a dead-reckoning solution with measurements from a DVL and fiber-optic gyrocompass [6]. Reconciliation of USBL position and deadreckoning solution can be affected from topside via acoustic modem.…”

Section: Sentry Navigation Interfacementioning

confidence: 99%

Satellite based remote management and operation of a 6000m AUV

et al. 2012

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During a July, 2012 expedition to the Hatteras Transverse Canyon, Blake Ridge, and Cape Fear Diapir, the AUV Sentry, aboard the NOAA Ship Okeanos , conducted experiments into remote operation of an AUV via satellite link. Remote launch, remote engineering, remote data processing and remote watch standing were all explored with varying degrees of success. Remote engineering and troubleshooting was found to be exceptionally promising and worthy of further effort. Remote data processing was a valuable addition for a telepresence enabled cruise where a substantial component of the science team was on shore. Remore watch standing and remote launch were both found to be viable though requiring improvement. Technology infrastructure is discussed along with successes, difficulties, and recommendations for future improvement.

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“…The depth of the landing site, 10,903 m, is 14 m shallower than that of our result. The discrepancy seems to be the result of the precision of navigation of the dive because it was positioned without long-baseline navigation (Whitcomb et al 2010).…”

Section: The Deepest Place In Challenger Deepmentioning

confidence: 99%

A precise bathymetric map of the world’s deepest seafloor, Challenger Deep in the Mariana Trench

Nakanishi

Hashimoto

2011

Mar Geophys Res

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Data from three bathymetric surveys by R/V Kairei using a 12-kHz multibeam echosounder and differential GPS were used to create an improved topographic model of the Challenger Deep in the southwestern part of the Mariana Trench, which is known as the deepest seafloor in the world. The strike of most of the elongated structures related to plate bending accompanied by subduction of the Pacific plate is N70°E and is not parallel to the trench axis. The bending-related structures were formed by reactivation of seafloor spreading fabric. Challenger Deep consists of three en echelon depressions along the trench axis, each of which is 6-10 km long, about 2 km wide, and deeper than 10,850 m. The eastern depression is the deepest, with a depth of 10,920 ± 5 m.

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Navigation and control of the Nereus hybrid underwater vehicle for global ocean science to 10,903 m depth: Preliminary results

Cited by 39 publications

References 15 publications

Controller design for underwater vehicle systems with communication constraints

Controller design for underwater vehicle systems with communication constraints

Satellite based remote management and operation of a 6000m AUV

A precise bathymetric map of the world’s deepest seafloor, Challenger Deep in the Mariana Trench

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