The long-term goals of this project are to develop techniques, which can be used in the design of AUV’s to minimize the radiated noise. The self noise from an AUV can interfere with acoustic sensors on board the AUV, specifically acoustic modem sensors and other sonar equipment. Hence the reduction of AUV noise and structural vibration is essentail in increasing the reliability of operation of ...

This paper describes field experiments with an X8 Unmanned Aerial Vehicle (UAV) operating as a wireless communication relay while loitering over a REMUS 100 Autonomous Underwater Vehicle (AUV) being at the ocean surface. The paper describes the design of the communication relay payload, network configuration, optimal flight conditions and UAV antenna mounting, and experimental results. Experime...

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 applicatio...

The dynamics of the Autonomous Underwater Vehicles (AUVs) are highly nonlinear and time varying and the hydrodynamic coefficients of vehicles are difficult to estimate accurately because of the variations of these coefficients with different navigation conditions and external disturbances. This study presents the on-line system identification of AUV dynamics to obtain the coupled nonlinear dyna...

There is increasing interest from the marine science community in using autonomous underwater vehicles (AUVs) under ice shelves and under sea ice. These environments pose challenges to the vehicle and support team, and they mean that recovery may be almost impossible, or very expensive, should the vehicle develop a fault particularly when beneath ice. This paper reviews recent published work on...

There is increasing interest from the marine science community in using autonomous underwater vehicles (AUVs) under ice shelves and under sea ice. These environments pose challenges to the vehicle and support team, and they mean that recovery may be almost impossible, or very expensive, should the vehicle develop a fault particularly when beneath ice. This paper reviews recent published work on...

This paper describes an autonomous underwater vehicle (AUV) with fuzzy controller and PID controller. Our AUV is compact and light in weight by employing variable vector (VARIVEC) propeller and compact controller. The AUV is autonomously controlled by utilizing the electronic compass, collision avoidance sonar, depth sensor and GPS receiver unit. A fuzzy controller and PID controller have desig...

This paper presents an intervention payload for an AUV working in a valve turning operation in free-floating control mode. The payload consists of a stereo camera for panel detection, a 4 degrees of freedom electrical manipulator and a specifically designed end-effector, which contains a force and torque sensor, an in-hand camera and a passive effector for valve operation. This payload was desi...

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allo...

This paper provides a brief survey on the control architectures used in the underwater system and robotics research for AUV application. Advantages and disadvantages of each scheme are discussed briefly in the context of performance evaluation, design flexibility and extensibility, sensor or command fusion and integration, robustness and effectiveness of task modules. There are many schemes ava...