Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778676
M. Majid, M. Arshad
Autonomous surface vehicle (ASV) is a versatile marine vehicle developed to fulfill complexity requirement of wide range offshore activities. Currently, ASVs are primarily developed based on the conventional surface vessel design in term of body structure and maneuverability capability. One of the today's ASV research interests is swarming application. The conventional ASV design has a limitation where it possesses large turning radius which is less suited for swarming purpose especially for a small area application. In this paper, a new ASV prototype is developed to accommodate swarming requirement and motion stability. Firstly, design requirements and the corresponding design methodology to achieve the aforementioned objectives are discussed. The practical aspects of the design are briefly presented and some related results from experiments related to the platform testing are presented. At the end of this paper, some future potential applications of the proposed ASV design are briefly highlighted.
{"title":"Design of an autonomous surface vehicle (ASV) for swarming application","authors":"M. Majid, M. Arshad","doi":"10.1109/AUV.2016.7778676","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778676","url":null,"abstract":"Autonomous surface vehicle (ASV) is a versatile marine vehicle developed to fulfill complexity requirement of wide range offshore activities. Currently, ASVs are primarily developed based on the conventional surface vessel design in term of body structure and maneuverability capability. One of the today's ASV research interests is swarming application. The conventional ASV design has a limitation where it possesses large turning radius which is less suited for swarming purpose especially for a small area application. In this paper, a new ASV prototype is developed to accommodate swarming requirement and motion stability. Firstly, design requirements and the corresponding design methodology to achieve the aforementioned objectives are discussed. The practical aspects of the design are briefly presented and some related results from experiments related to the platform testing are presented. At the end of this paper, some future potential applications of the proposed ASV design are briefly highlighted.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124826767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778721
Yoshinori Kuranaga, T. Maki
In recent years, many types of autonomous underwater vehicle AUV (Autonomous Underwater Vehicle) have been used in various surveys in water. Since AUV is operated and navigated autonomously without tether cable that connects its mother ship, we can save human resources in accordance with the operation, and also we have an advantage of not subject to the constraints of the mother ship with respect to the moving range. For those reasons AUV is often used in the mission of underwater mapping. In those missions, we need to choose and put suitable sensors on AUV according to observed objects. Some types of AUV, like HUGIN (shown in Figure 1 [1], Kongsberg), can partition their body into some module, and we can replace modules to replace sensors according to the mission. We can connect many modules to use many function, but the more modules we use the larger the vehicle size is, and controllability, including the turning performance is going to become worse. In this study, we propose “Train type AUV” which uses movable joints and cables and explain its possibility.
{"title":"The possibility of “train type AUV” about its mobility and endurance","authors":"Yoshinori Kuranaga, T. Maki","doi":"10.1109/AUV.2016.7778721","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778721","url":null,"abstract":"In recent years, many types of autonomous underwater vehicle AUV (Autonomous Underwater Vehicle) have been used in various surveys in water. Since AUV is operated and navigated autonomously without tether cable that connects its mother ship, we can save human resources in accordance with the operation, and also we have an advantage of not subject to the constraints of the mother ship with respect to the moving range. For those reasons AUV is often used in the mission of underwater mapping. In those missions, we need to choose and put suitable sensors on AUV according to observed objects. Some types of AUV, like HUGIN (shown in Figure 1 [1], Kongsberg), can partition their body into some module, and we can replace modules to replace sensors according to the mission. We can connect many modules to use many function, but the more modules we use the larger the vehicle size is, and controllability, including the turning performance is going to become worse. In this study, we propose “Train type AUV” which uses movable joints and cables and explain its possibility.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129105503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778667
D. Roper, M. Furlong, Roohollah Torabi Kachoosangiy, Maciej Szczygielskiy, Ashley Cookey
Lithium sulphur batteries offer a huge potential advantage over established AUV energy sources, such as Lithium polymer or Lithium ion batteries. The high energy density and low specific gravity make them an ideal choice for pressure balanced systems which could significantly improve AUV endurance. This paper aims to evaluate the current technology readiness for deployment in the AUV industry.
{"title":"Evaluating the use of lithium sulphur batteries for a deep ocean pressure balanced AUV energy source","authors":"D. Roper, M. Furlong, Roohollah Torabi Kachoosangiy, Maciej Szczygielskiy, Ashley Cookey","doi":"10.1109/AUV.2016.7778667","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778667","url":null,"abstract":"Lithium sulphur batteries offer a huge potential advantage over established AUV energy sources, such as Lithium polymer or Lithium ion batteries. The high energy density and low specific gravity make them an ideal choice for pressure balanced systems which could significantly improve AUV endurance. This paper aims to evaluate the current technology readiness for deployment in the AUV industry.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127789625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778651
A. Marouchos, M. Underwood, R. Babcock
Autonomous underwater vehicles (AUVs) are increasingly being deployed in the study of inshore coastal marine habitats. Combined with shipboard systems, scientists are able to make in situ measurements of water column and benthic properties. In CSIRO autonomous gliders are used to collect water column data, while surface vessels are used to collect bathymetry information through the use of swath mapping, bottom grabs, and towed video systems. Although these methods have provided good data coverage for coastal and deep waters beyond 50m, there has been an increasing need for autonomous in-situ sampling in waters less than 50m. In addition, the collection of benthic and water column data has been conducted separately, and requires scientists to post-process data in lab. A new system was needed to allow for in-situ observations of both benthic habitat and water column properties in shallow waters. CSIRO has developed an AUV (Starbug X) to deliver enhanced observation capabilities of both benthic habitats and water column properties. The system is equipped with a range of built-in sensors as well as two sets of cameras allowing for the collection of multi-parameter observations. Crucially, the in-situ collection of benthic and water column data allow scientists to better relate water quality to changes in the benthic habitat. This paper discusses the development and use of a software tool that streamlines the analysis and visualization of vehicle multi-channel data stream; the STarbUg Analysis & Reporting Tool (STUART). In addition, future developments in vision based navigation, mission planning, and the integration of water column data is discussed. Finally the paper discusses how Starbug X and future STUART development fill a much needed capability gap in CSIRO's existing integrated ocean observing systems.
{"title":"Starbug X AUV: Field trials and analysis of in-situ multi-channel AUV data","authors":"A. Marouchos, M. Underwood, R. Babcock","doi":"10.1109/AUV.2016.7778651","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778651","url":null,"abstract":"Autonomous underwater vehicles (AUVs) are increasingly being deployed in the study of inshore coastal marine habitats. Combined with shipboard systems, scientists are able to make in situ measurements of water column and benthic properties. In CSIRO autonomous gliders are used to collect water column data, while surface vessels are used to collect bathymetry information through the use of swath mapping, bottom grabs, and towed video systems. Although these methods have provided good data coverage for coastal and deep waters beyond 50m, there has been an increasing need for autonomous in-situ sampling in waters less than 50m. In addition, the collection of benthic and water column data has been conducted separately, and requires scientists to post-process data in lab. A new system was needed to allow for in-situ observations of both benthic habitat and water column properties in shallow waters. CSIRO has developed an AUV (Starbug X) to deliver enhanced observation capabilities of both benthic habitats and water column properties. The system is equipped with a range of built-in sensors as well as two sets of cameras allowing for the collection of multi-parameter observations. Crucially, the in-situ collection of benthic and water column data allow scientists to better relate water quality to changes in the benthic habitat. This paper discusses the development and use of a software tool that streamlines the analysis and visualization of vehicle multi-channel data stream; the STarbUg Analysis & Reporting Tool (STUART). In addition, future developments in vision based navigation, mission planning, and the integration of water column data is discussed. Finally the paper discusses how Starbug X and future STUART development fill a much needed capability gap in CSIRO's existing integrated ocean observing systems.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129844415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778678
Toby Schneider
The Internet Protocol (IP) is ubiquitous in terrestrial and electromagnetic-carrier wireless networking. However, for very low-throughput underwater links (such as those using acoustic modems) the IP header introduces an unacceptable amount of data overhead for the small maximum transmission units available on underwater acoustic links. Nonetheless, it is becoming increasingly valuable to connect undersea deployments to the internet to provide data to researchers on shore, and facilitate remote command of deployed vehicles and sensors. This paper details a technique to reversibly translate the IPv4 header to allow IP packets to traverse acoustic links but with a header that is an order of magnitude smaller than a regular IPv4 header. In addition, this technique provides support for translating the User Datagram Protocol (UDP) header to provide scalable multiplexing. This technique works by dynamically partitioning the address space into the required subnet size based on the number of communicating nodes, and applying a Huffman entropy encoder to the address values based on the probabilistic data flow amongst the nodes.
{"title":"Transmitting Internet Protocol packets efficiently on underwater networks using entropy-encoder header translation","authors":"Toby Schneider","doi":"10.1109/AUV.2016.7778678","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778678","url":null,"abstract":"The Internet Protocol (IP) is ubiquitous in terrestrial and electromagnetic-carrier wireless networking. However, for very low-throughput underwater links (such as those using acoustic modems) the IP header introduces an unacceptable amount of data overhead for the small maximum transmission units available on underwater acoustic links. Nonetheless, it is becoming increasingly valuable to connect undersea deployments to the internet to provide data to researchers on shore, and facilitate remote command of deployed vehicles and sensors. This paper details a technique to reversibly translate the IPv4 header to allow IP packets to traverse acoustic links but with a header that is an order of magnitude smaller than a regular IPv4 header. In addition, this technique provides support for translating the User Datagram Protocol (UDP) header to provide scalable multiplexing. This technique works by dynamically partitioning the address space into the required subnet size based on the number of communicating nodes, and applying a Huffman entropy encoder to the address values based on the probabilistic data flow amongst the nodes.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126277355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778687
T. Nakatani, T. Hyakudome, T. Sawa, Y. Nakano, Yoshitaka Watanabe, T. Fukuda, H. Matsumoto, Ryotaro Suga, H. Yoshida
JAMSTEC has proposed an operation of multiple AUVs using an ASV (Autonomous Surface Vehicle) to improve survey efficiency. For this purpose, an ASV “MAINAMI” with a length of 6 meters has been developed since 2013. The vehicle is equipped with an acoustic communication device and a satellite one, in order to relay information between an AUV and operators on a ship or on land. In February 2016, its sea trials were carried out at Suruga-Bay. The performance of its solo navigation was verified through the sea trial. And, the ASV succeeded in tracking of a deep-tow as a simulated curing-type AUV.
{"title":"ASV MAINAMI for AUV monitoring and its sea trial","authors":"T. Nakatani, T. Hyakudome, T. Sawa, Y. Nakano, Yoshitaka Watanabe, T. Fukuda, H. Matsumoto, Ryotaro Suga, H. Yoshida","doi":"10.1109/AUV.2016.7778687","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778687","url":null,"abstract":"JAMSTEC has proposed an operation of multiple AUVs using an ASV (Autonomous Surface Vehicle) to improve survey efficiency. For this purpose, an ASV “MAINAMI” with a length of 6 meters has been developed since 2013. The vehicle is equipped with an acoustic communication device and a satellite one, in order to relay information between an AUV and operators on a ship or on land. In February 2016, its sea trials were carried out at Suruga-Bay. The performance of its solo navigation was verified through the sea trial. And, the ASV succeeded in tracking of a deep-tow as a simulated curing-type AUV.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122014898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778697
Chih-Wei Lee, Rui Nian, Jenhwa Guo
This work describes the gesture control of a Biomimetic Autonomous Underwater Vehicle (BAUV) in a water flow by utilizing information derived from an onboard stereo camera, a compass, and an accelerometer. In an alternating water flow, the BAUV suffers from drag forces and consumes more energy when it advances. The relationship between air bubbles and water flow is first discussed. The air bubble is detected by the Harris corner. The relative position between air bubble and BAUV is estimated based on the calibrated stereo camera and the bubble is tracked by Lucas-Kanade method combined with the image pyramid algorithm. By integrating observation information from the motion of air bubbles, heading angles and 3-axis accelerations, the BAUV adjusts its heading angle to optimize the gesture in the water flow by gaining lift forces from the flow. Finally, the gesture control aided by the bubble motion observation in a water flow is verified by experiments. The control energy consumed by the driving motor are calculated to compare the energy used in a water flow without the gesture control.
{"title":"Underwater vehicle gesture control aided by air bubble motion observation","authors":"Chih-Wei Lee, Rui Nian, Jenhwa Guo","doi":"10.1109/AUV.2016.7778697","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778697","url":null,"abstract":"This work describes the gesture control of a Biomimetic Autonomous Underwater Vehicle (BAUV) in a water flow by utilizing information derived from an onboard stereo camera, a compass, and an accelerometer. In an alternating water flow, the BAUV suffers from drag forces and consumes more energy when it advances. The relationship between air bubbles and water flow is first discussed. The air bubble is detected by the Harris corner. The relative position between air bubble and BAUV is estimated based on the calibrated stereo camera and the bubble is tracked by Lucas-Kanade method combined with the image pyramid algorithm. By integrating observation information from the motion of air bubbles, heading angles and 3-axis accelerations, the BAUV adjusts its heading angle to optimize the gesture in the water flow by gaining lift forces from the flow. Finally, the gesture control aided by the bubble motion observation in a water flow is verified by experiments. The control energy consumed by the driving motor are calculated to compare the energy used in a water flow without the gesture control.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128025587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778666
T. Hyakudome, T. Nakatani, H. Yoshida, Toshihiro Tani, Hideki Ito, Koki Sugihara
The use of Autonomous Underwater Vehicles (AUVs) is now widespread among the underwater observation and survey. Because AUVs are not restricted by an umbilical cable, we think that AUVs have the most suitable form to collect ocean data or work depending on subjects of survey efficiently in the same way as the sea lives with various forms. For example, form to collect ocean data while cruising in a huge range, form to collect the topography data of the seafloor and under the bottom of the sea while cruising with following seafloor, form to work such as the collection of the rock of the seafloor or the setting of the sensor on the seafloor, form to collect ocean data slowly and carefully without moving the investigation spot against the current and so on. Underwater power source is one of very important elements to operate electrically driven underwater vehicles. Because there are no energy supply places in underwater. Many research and development about the underwater power source are carried out in all over the world. When the research and development of the power source, following things need to be considered: small and light weight, put in a pressure vessel or resist against water pressure, work against low water temperature, without vibration and noise, reliability and ease of maintenance. The power source has heaviest weight with the components of the underwater vehicles. The paper reported that concepts of the body design and model experimental results show specification of fuel cell system and several experimental results.
{"title":"Development of fuel cell system for long cruising lange Autonomous Underwater Vehicle","authors":"T. Hyakudome, T. Nakatani, H. Yoshida, Toshihiro Tani, Hideki Ito, Koki Sugihara","doi":"10.1109/AUV.2016.7778666","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778666","url":null,"abstract":"The use of Autonomous Underwater Vehicles (AUVs) is now widespread among the underwater observation and survey. Because AUVs are not restricted by an umbilical cable, we think that AUVs have the most suitable form to collect ocean data or work depending on subjects of survey efficiently in the same way as the sea lives with various forms. For example, form to collect ocean data while cruising in a huge range, form to collect the topography data of the seafloor and under the bottom of the sea while cruising with following seafloor, form to work such as the collection of the rock of the seafloor or the setting of the sensor on the seafloor, form to collect ocean data slowly and carefully without moving the investigation spot against the current and so on. Underwater power source is one of very important elements to operate electrically driven underwater vehicles. Because there are no energy supply places in underwater. Many research and development about the underwater power source are carried out in all over the world. When the research and development of the power source, following things need to be considered: small and light weight, put in a pressure vessel or resist against water pressure, work against low water temperature, without vibration and noise, reliability and ease of maintenance. The power source has heaviest weight with the components of the underwater vehicles. The paper reported that concepts of the body design and model experimental results show specification of fuel cell system and several experimental results.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132595901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778691
Caoyang Yu, Xianbo Xiang, Mingjiu Zuo, Hui Liu
In this paper, a cascaded framework including simplified cable localization method with magnetic sensing and robust tracking control algorithm is proposed in order to guide a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) to autonomously track the underwater cable. With the magnetic sensing, the cable tracking control is constructed as a straight-line path following control problem in the horizontal plane. A simplified magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the AUV and the cable, and a proportional-integral-derivative (PID) controller based on the feedback linearizing technique is adopted to robustly track the desired guidance profiles, such that the under-actuated AUV exposed to constant current disturbances is able to move towards the underwater cable and then inspect its buried environment. Finally, numerical simulation results show the effectiveness of the proposed control system on the cable tracking and inspection.
{"title":"Underwater cable tracking control of under-actuated AUV","authors":"Caoyang Yu, Xianbo Xiang, Mingjiu Zuo, Hui Liu","doi":"10.1109/AUV.2016.7778691","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778691","url":null,"abstract":"In this paper, a cascaded framework including simplified cable localization method with magnetic sensing and robust tracking control algorithm is proposed in order to guide a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) to autonomously track the underwater cable. With the magnetic sensing, the cable tracking control is constructed as a straight-line path following control problem in the horizontal plane. A simplified magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the AUV and the cable, and a proportional-integral-derivative (PID) controller based on the feedback linearizing technique is adopted to robustly track the desired guidance profiles, such that the under-actuated AUV exposed to constant current disturbances is able to move towards the underwater cable and then inspect its buried environment. Finally, numerical simulation results show the effectiveness of the proposed control system on the cable tracking and inspection.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115489455","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778695
Hui Liu, Bohao Wang, Xianbo Xiang
In this paper, we present the “Adventure-I” mini-AUV prototype developed for educational and research tasks. The mini-AUV is simply equipped with one main propeller and two rudders, without any vertical and lateral thrusters. First, the whole structure and the main dimension of the “Adventure-I” mini-AUV is described. Second, the detailed specifications of the hardware system are illustrated, including the onboard controller, sensors and power supply. Subsequently, the control system of the mini-AUV is introduced with the surface monitoring station and the onboard control part. Finally, the experiment of straight-line path following is performed in the swimming pool and the field results validate the feasibility and effectiveness of the developed mini-AUV prototype.
{"title":"Adventure-I: A mini-AUV prototype for education and research","authors":"Hui Liu, Bohao Wang, Xianbo Xiang","doi":"10.1109/AUV.2016.7778695","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778695","url":null,"abstract":"In this paper, we present the “Adventure-I” mini-AUV prototype developed for educational and research tasks. The mini-AUV is simply equipped with one main propeller and two rudders, without any vertical and lateral thrusters. First, the whole structure and the main dimension of the “Adventure-I” mini-AUV is described. Second, the detailed specifications of the hardware system are illustrated, including the onboard controller, sensors and power supply. Subsequently, the control system of the mini-AUV is introduced with the surface monitoring station and the onboard control part. Finally, the experiment of straight-line path following is performed in the swimming pool and the field results validate the feasibility and effectiveness of the developed mini-AUV prototype.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122498114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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