scholarly journals DELPHIN2: AN OVER ACTUATED AUTONOMOUS UNDERWATER VEHICLE FOR MANOEUVRING RESEARCH

2021 ◽  
Vol 155 (A4) ◽  
Author(s):  
A. B. Phillips ◽  
L Steenson ◽  
E Rogers ◽  
S. R. Turnock ◽  
C Harris ◽  
...  
Keyword(s):  
Northern Ireland ◽  
Autonomous Vehicles ◽  
Autonomous Underwater Vehicle ◽  
Mechanical Design ◽  
Low Cost ◽  
Underwater Vehicle ◽  
Test Bed ◽  
Training Environment ◽  
Marine Robotics ◽  
The University

Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey missions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.

scholarly journals Delphin2: An Over Actuated Autonomous Underwater Vehicle for Manoeuvring Research

2013 ◽  
Vol 155 (A4) ◽  
Keyword(s):  
Northern Ireland ◽  
Autonomous Vehicles ◽  
Autonomous Underwater Vehicle ◽  
Mechanical Design ◽  
Low Cost ◽  
Underwater Vehicle ◽  
Test Bed ◽  
Training Environment ◽  
Marine Robotics ◽  
The University

Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey missions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.

Side Scan Sonar Modeling for Maritime Robotic Operations

2012 ◽  
Vol 152-154 ◽  
pp. 1195-1201
Author(s):  
Kuan Meng Tan ◽  
Tien Fu Lu ◽  
Amir Anvar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Simulation Framework ◽  
Test Bed ◽  
Side Scan Sonar ◽  
Sensor Model ◽  
Sonar Sensor ◽  
Key Aspects ◽  
The University ◽  
Sensor Modeling

One of the key aspects in designing an Autonomous Underwater Vehicle (AUV) simulation framework is sensor modeling. This paper presents specifically the underwater sonar sensor modeling structure used in the proposed AUV simulation framework. This sensor model covers the mathematical aspects from the field of acoustics which mimics real world sensors. Simplified sonar signal models are widely used however rarely discussed in the literature. Based on this designed simulation framework, simple scenario using different sonar configuration is shown and discussed. This paper shows the formulation of a typical side-scan sonar with emphasis on the assumptions which leads to the simplification of the sonar model. The sonar sensor model is built based on a developed AUV test-bed which was done previously in the University of Adelaide.

A low cost autonomous underwater vehicle for patrolling and monitoring

2016 ◽  
Vol 231 (3) ◽  
pp. 740-749 ◽  
Author(s):  
Benedetto Allotta ◽  
Roberto Conti ◽  
Riccardo Costanzi ◽  
Francesco Fanelli ◽  
Jonathan Gelli ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Low Cost ◽  
Underwater Vehicle

scholarly journals An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL

2009 ◽  
Vol 43 (2) ◽  
pp. 33-47 ◽  
Author(s):  
Hunter C. Brown ◽  
Ayoung Kim ◽  
Ryan M. Eustice
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
University Of Michigan ◽  
Major Research ◽  
Research Areas ◽  
Localization And Mapping ◽  
Navigation And Control ◽  
The University ◽  
And Control

AbstractThis article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's research centers on improving AUV autonomy via algorithmic advancements in environmentally based perceptual feedback for real-time mapping, navigation, and control. Our three major research areas are (1) real-time visual simultaneous localization and mapping (SLAM), (2) cooperative multi-vehicle navigation, and (3) perception-driven control. Pursuant to these research objectives, PeRL has developed a new multi-AUV SLAM testbed based upon a modified Ocean-Server Iver2 AUV platform. PeRL upgraded the vehicles with additional navigation and perceptual sensors for underwater SLAM research. In this article, we detail our testbed development, provide an overview of our major research thrusts, and put into context how our modified AUV testbed enables experimental real-world validation of these algorithms.

Fòlaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities

2009 ◽  
Vol 36 (1) ◽  
pp. 24-38 ◽  
Author(s):  
A. Alvarez ◽  
A. Caffaz ◽  
A. Caiti ◽  
G. Casalino ◽  
L. Gualdesi ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Low Cost ◽  
Underwater Vehicle
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