The Autonomous Underwater Vehicle Laboratory (AUV Lab) at The Massachusetts Institute of Technology (MIT) is currently building and testing a new, general purpose and inexpensive 6000 meter capable Hovering Autonomous Underwater Vehicle (HAUV), the ‘ODYSSEY IV class’. The vehicle is intended for rapid deployments, potentially with minimal navigation, thus supporting episodic dives for explorato...

An autonomous underwater vehicle (AUV) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. Design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel AUV is the main goal of this research. Detailed explanation of the test and experiment with a brief overview on fabrication are provide...

In the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. In this study, hydrodynamic coefficients of an autonomous un...

Here a innovative approach of Auto tuned fractional order control is proposed for fault tolerant control of Autonomous Underwater Vehicle (AUV). From fault detection and reconfiguration, fractional order controller is designed. Reconfiguration is designed using Eigen structure assignment technique. The proposed approach is tested on REMUS-100 AUV model. Variable step input is used as a referenc...

This paper presents an analysis of the acoustic emissions emitted by an underway REMUS-100 autonomous underwater vehicle (AUV) that were obtained near Honolulu Harbor, HI using a fixed, bottom-mounted horizontal line array (HLA). Spectral analysis, beamforming, and cross-correlation facilitate identification of independent sources of noise originating from the AUV. Fusion of navigational record...

The paper considers feedback stabilization of the position and attitude of an autonomous underwater vehicle (AUV) with a reduced number of actuators. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. The paper shows that previous results on attitude stabilization of a spacecraft can be applied to exponentially stabilize both the position and attitude of an ...

The research of Underwater Acoustic Networks (UANs) is attracting attention due to their important underwater applications for military and commercial purposes. Underwater wireless communication networks (UWCNs) consist of sensors and autonomous underwater vehicles (AUVs) that interact, coordinate and share information with each other to carry out sensing and monitoring functions. In last sever...

For the coordination and control of robot behavior, behavior decision is the foundation and the determinant of robot intelligence. Based on autonomous underwater vehicle (AUV), through the analysis of domestic anti-surge technology research status and inrush current model, a control technology with the use of behavioural decision upper and lower piecewise integration control between PID and FPI...

Transferring data between the ocean surface and an operating Autonomous Underwater Vehicle (AUV) is a difficult and slow process. Current methods of un-tethered submersible communication have either a very limited data transfer rate or a prohibitively short range. In this paper, students of the University of Florida propose a new data transfer method that will supply the high data rates of a te...

Surveillance missions for multiple autonomous underwater vehicle (AUV) system suggest the use of different modes of operation including organizing and keeping a predefined formation, avoiding obstacles, reaching static and tracking dynamic targets. While exploiting a leader-follower strategy to formation control and the vector Lyapunov function method to controller design, we use discrete-event...