Results from mechanical docking tests of a Morpheus class AUV with a dock designed for an OEX class AUV

Lambiotte, J.C.; Coulson, Robert; Smith, S.M.; An, Edgar

doi:10.1109/oceans.2002.1193281

Cited by 17 publications

(7 citation statements)

References 1 publication

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“…The method, similar to those used to help planes land on aircraft carriers, uses a line tied to the docking station that has to be hooked by a cable deployed from the AUV, forcing it to land over the station that lies on the seabed. With a similar concept, a stinger-based docking (SBD) mechanism was proposed by Lambiotte et al (2002) for the FAU AUV , with the advantage of allowing four approaching directions for homing instead of a single one. Avoiding the need for (potentially harmful) cables or stingers, a cradlebased docking (CBD) system, approached vertically, and using passive accommodation (0,5 m tolerant) has been the system proposed in the SWIMMER EU project by Evans et al (2001).…”

Section: State Of the Art In Docking Systemsmentioning

confidence: 99%

Autonomous I-AUV Docking for Fixed-base Manipulation

Palomeras

Ridao

Ribas

et al. 2014

IFAC Proceedings Volumes

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Section: State Of the Art In Docking Systemsmentioning

confidence: 99%

Autonomous I-AUV Docking for Fixed-base Manipulation

Palomeras

Ridao

Ribas

et al. 2014

IFAC Proceedings Volumes

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“…Those systems included ultra short baseline (USBL) guidance with the beacon mounted on the docking station. Lambiotte et al later used a docking system that had some of the characteristics of a rope-docking and mechanical guiding cone [21]. "Marine Bird" was distinguished in its design with the fact that it landed like an airplane on a aircraft carrier, using a special deployable hook.…”

Section: Docking Strategiesmentioning

confidence: 99%

Investigation of autonomous docking strategies for robotic operation on intervention panels

et al. 2008

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This paper presents a localization strategy for an AUV which autonomously docks on intervention panels. A brief review of past research and working solutions of docking motivates the proposed choice of the strategy. It combines a ranging sonar localization technique featuring a modified particle filter at large distance and a visual model-based pose estimation using on-board camera at close distance to the docking panel. The particle filter solution is enhanced for effective exploration of the vehicle states without increasing the computational demand. It operates in an environment with a known map and has a real-time performance. The pose recognition algorithm derives from POSIT and is optimized for robustness. The visual docking utilizes a set of point-light markers which guarantees good accuracy at a large range of angles. Mentioned strategies are proven in a number of simulations as well as practical tests.978-1-4244-2620-1/08/$25.00 ©2008 IEEE

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“…The Kawasaki docking system and FAU-Morpheus docking system use this kind of a mechanism [33,37]. Once again the success of this kind of system is more dependent on the navigating capacity of the AUV.…”

Section: Cable Latch Type Docksmentioning

confidence: 99%

Design considerations for engineering autonomous underwater vehicles

Shah¹

2007

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Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and remotely operated vehicles (ROV) technology. AUVs are attractive as cheaper and efficient alternatives to the older technologies and are breaking new ground in many applications. Designing an autonomous vehicle to work in the harsh environment of the deep ocean comes with its set of challenges. This paper discusses how the current engineering technologies can be adapted to the design of AUVs.Recently, as the AUV technology has matured, we see AUVs being used in a variety of applications ranging from sub-surface sensing to sea-floor mapping. The design of the AUV, with its tight constraints, is very sensitive to the target application. Keeping this in mind, the goal of this thesis is to understand how some of the major issues affect the design of the AUV. This paper also addresses the mechanical and materials issues, power system design, computer architecture, navigation and communication systems, sensor considerations and long term docking aspects that affect AUV design.With time, as the engineering sciences progress, the AUV design will have to change in order to optimize its performance. Thus, the fundamental issues discussed in this paper can assist in meeting the challenge of maintaining AUV design on par with modern technology.

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Results from mechanical docking tests of a Morpheus class AUV with a dock designed for an OEX class AUV

Cited by 17 publications

References 1 publication

Autonomous I-AUV Docking for Fixed-base Manipulation

Autonomous I-AUV Docking for Fixed-base Manipulation

Investigation of autonomous docking strategies for robotic operation on intervention panels

Design considerations for engineering autonomous underwater vehicles

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