The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000m depth

Bowen, A.; Yoerger, D.; Taylor, Chris; McCabe, Robert W.; Howland, Jonathan C.; Gomez-Ibañez, Daniel; Kinsey, James C.; Heintz, Matthew; Mcdonald, G.; Peters, Donald B.; Fletcher, Barbara; Young, Chris; Buescher, James; Whitcomb, Louis L.; Martin, Stephen C.; Webster, Sarah E.; Jakuba, Michael V.

doi:10.1109/oceans.2008.5151993

Cited by 62 publications

(38 citation statements)

References 21 publications

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“…With a range of vehicle size and capabilities, AUVs are being developed to perform routine tasks that may be dangerous, expensive, or inaccessible to other types of platforms. Their ability to cover large areas of the ocean environment at any depth [2] gives them a distinct advantage, as they can overcome sound attenuation, surface noise, and tracer dilution problems hindering surface level instrumentation [4].…”

Section: List Of Figuresmentioning

confidence: 99%

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Variable buoyancy system metric

Jensen¹

2009

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Over the past 20 years, underwater vehicle technology has undergone drastic improvements, and vehicles are quickly gaining popularity as a tool for numerous oceanographic tasks. Systems used on the vehicle to alter buoyancy, or variable buoyancy (VB) systems, have seen only minor improvements during the same time period. Though current VB systems are extremely robust, their lack of performance has become a hinderance to the advancement of vehicle capabilities.This thesis first explores the current status of VB systems, then creates a model of each system to determine performance. Second, in order to quantitatively compare fundamentally different VB systems, two metrics, β m and β vol , are developed and applied to current systems. By determining the ratio of performance to size, these metrics give engineers a tool to aid VB system development. Finally, the fundamental challenges in developing more advanced VB systems are explored, and a couple of technologies are investigated for their potential use in new systems.

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Section: List Of Figuresmentioning

confidence: 99%

“…In many modern AUVs, propulsion can use up to half the energy onboard [11]. Chosing to reduce risk and complication, many vehicles drive to and from depth, and operate positively buoyant at depth [2], [11], [6]. This requires a constant downward thrust to counter the buoyant force.…”

Section: Motivationmentioning

confidence: 99%

Variable buoyancy system metric

Jensen¹

2009

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“…Remotely operated vehicles (ROVs) are very important tools for scientific research [1] [2] and industry. Large ROVs are capable of having large and multi-degrees of freedom (DOF) manipulators to realize various underwater operations.…”

Section: Introductionmentioning

confidence: 99%

Development of a human-sized ROV with dual-arm

Sakagami

Shibata²,

Hashizume³

et al. 2010

Oceans'10 Ieee Sydney

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In this paper, we describe the development of a human-sized remotely operated vehicle (ROV) with dual-arm. The developed ROV was designed to perform biological researches, geological researches and archaeological explorations in Lake Biwa, the biggest lake in Japan. This ROV has two distinguishing characteristics: one is a dual-manipulator system and the other is an attitude control system. The size of the manipulators is related to the size of a human arm so that the ROV can do work that human divers usually do using the arms. The attitude control system is capable of keeping the vehicle in a horizontal plane, and purposely changing the vehicle attitude angle. Additionally, we developed a new master-slave controller system for this ROV.Some fundamental experiments in a diving pool were performed in order to test the capabilities of the developed ROV. After those experiments, a field trial was conducted in Lake Biwa and the ROV carried out some works at a depth of about 10-20 meters.

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“…To date ( the recently sadly lost) ABE AUV [1,2], (succeeded by the SENTRY AUV), had by far the greatest experience and indeed success in finding and mapping deep ocean hydrothermal systems. The 11000 m rated NEREUS [3] has also recently been used for hydrothermal plume hunting. Indeed, chemical signals detected by this hybrid AUV, in October 2009, during the cruise of the R/V Cape Hatteras to the Mid Cayman Rise, where vitally useful, 4 months later, in defining the initial search area for Autosub6000.…”

Section: Introductionmentioning

confidence: 99%

Challenges of using an AUV to find and map hydrothermal vent sites in deep and rugged terrains

McPhail

Stevenson

Pebody

et al. 2010

2010 IEEE/OES Autonomous Underwater Vehicles

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-In March 2010, the Autosub6000 AUV embarked on a cruise to discover, locate and map hydrothermal vent sites in an active spreading centre, the Cayman trough in the Caribbean sea. The environment provided the challenge of steep and rugged terrain together with deep water (in places greater than 5000 m).Autosub6000 is a flight class, hydrodynamically shaped AUV, with good endurance capability, making it well suited for searching for plume signals and mapping terrain over the required moderately large areas. However, it must fly at a forward speed greater than 0.8 ms-1 to achieve control, and so it requires a capable forward look collision avoid capability. Another potential challenge is navigation. To make best use of ship time, Autosub6000 missions are commonly conducted with neither the support ship in attendance, nor an acoustic transponder long baseline network. Hence positioning is dependent upon the AUV autonomous navigation (aided by a position fix after the AUV's descent to within ADCP bottom tracking range of the seabed).For the cruise on the UK research ship RRS James Cook, the AUV was equipped with sensors for EH (redox potential), turbidity, CTD, tri axis magnetometer, and an EM2000 multibeam sonar. The paper describes the Autosub6000 vehicle, its systems, capabilities, the missions it undertook in the deep Caribbean sea, and the discoveries it made. The missions, although ultimately very successful, were not without problems, with, for example, the steep seabed slopes, at times affecting the accuracy for the navigation system. The paper will also discuss these issues and how they might be addressed in the future.

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The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000m depth

Cited by 62 publications

References 21 publications

Variable buoyancy system metric

Variable buoyancy system metric

Development of a human-sized ROV with dual-arm

Challenges of using an AUV to find and map hydrothermal vent sites in deep and rugged terrains

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