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Underwater Technology is the peer-reviewed international journal of the Society for Underwater Technology. The objectives of the journal are to inform and acquaint the Society's members and other readers with current views and new developments in the broad areas of underwater technology, ocean science and offshore engineering.

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Current Issue

Underwater Technology Vol 28 No 4

Unmanned Underwater Vehicle Showcase Special Issue

Autumn 2009

Guest Editor's Note

UUVS Special issue on navigation, guidance and control of unmanned underwater vehicle

R Sutton

Technical Papers

Towards supervisory-switched control of hybrid underwater vehicles

AJ Sørensen and J Refsnes

Abstract:

The paper presents automatic control system design considerations for underwater vehicles conducting a diversity if intervention and inspection missions. Such multitasking vehicles are here denoted as 'hybrid underwater vehicles'. Dependent on the various operations, the vehicle particulars – such as mass, breadth, length or centre of gravity – may change considerably due to changing payloads, such as tool and instrumentation packages. This can lead to both structural and parametric model variations that will be time-varying, though partly known, depending on the given mission. Both the modularity in the controller design and the ability to switch between the appropriate banks of controllers enable the design of automatic supervisory-switched control systems. This paper also presents recent research work at the Norwegian University of Science and Technology (NTNU) on nonlinear model-based control of slender-body underwater vehicles. In particular, results from a study using a Minesniper MKII will be discussed, describing two of the model regimes as proposed for supervisory-switched control concept.

Technical Papers

Fòlaga: a low cost AUV/glider for coastal environmental sampling

A Caffaz, A Caiti, G Casalino, L Gualdesi and A Turetta

Abstract:

The paper describes the current evolution of the class of Fòlaga underwater vehicles, whose actuation mechanism is hybrid between oceanographic gliders and standard, self-propelled autonomous underwater vehicles (AUVs). The Fòlaga vehicles have been designed for coastal oceanography and environmental sampling: the application-oriented design approach has resulted in light-weight, low-cost, low-maintenance vehicles. A description of the vehicles' design and guidance, navigation and control capabilities is given, together with data from recent experimental trials.

Technical Papers

A flexible multi-mode of operation, high resolution survey platform for surface and underwater operations

D Toal, S Nolan, J Riordan and E Omerdic

Abstract:

This paper describes the ROV_LATIS, a multi-mode of operation flexible platform for high-resolution near-seabed survey from shallow inshore waters to depths beyond 1000m. The paper further describes the operation modes of the vehicle. Special system features include: deployment flexibility for both small inshore boats and larger research vessel; fault tolerant controls; onboard computer control enabling real-time disturbance reaction, autopilot functionality and autonomous underwater vehicle (AUV) experimentation; and topside augmented reality operations support, simulation for remotely operated vehicle (ROV) pilot and sonar operator/hydrographer training. Vehicle and control development using the University of Limerick (UL) virtual underwater laboratory/simulation tools and hardware-in-the-loop testing is described. The paper includes test results from the March 2009 offshore sea trials with the ROV_LATIS.

Technical Paper

Underwater vehicle technology in the European Research Project VENUS

G Conte, L Gambella, D Scaradozzi, S Zanoli, A Caiti, V Calabrò, A Alcocer, J Alves, B Cardeira, R Cunha, F Curado, P Oliveira, A Oliveira, A Pascoal, M Rufino, L Sebastião and C Silvestre

Abstract:

This paper describes the work carried out during the first part of the European research project Virtual ExploratioN of Underwater Sites (VENUS) by two of the participating teams. As the project is aimed at developing a set of best practices, procedures and tools for exploring underwater archaeological sites, part of the work concentrated on the use of unmanned underwater vehicles for gathering optical and acoustic data on field and their use in constructing photographic maps. At the same time, the use of unmanned surface vehicles for long-range exploration and construction of large-scale acoustic maps was investigated.

      Concentrating the first point, the main results consist of a series of best practices and procedures for collecting correlated and geo-referenced optic and acoustic images, which are used for constructing online two-dimensional photographic maps of the explored area during the survey, as well was offline three-dimensional representation of the site in a virtual reality environment. The construction of two-dimensional photographic maps represents a major innovation towards conducting archaeological exploration and defines a new, efficient way of governing it, at logical level, in a closed loop fashion. Integration of the information into a geographic information system (GIS) has also been developed to help archaeologist interpret the results of the ongoing exploration with respect to larger scenarios, and possibly to modify or adjust the mission parameters during its execution accordingly. The basic capability of surface vehicles in connection with the objectives of the archaeological exploration has been investigated as a basis for an integration between underwater and surface vehicles in that activity.

Book Review

Masterclass in AUV Technology for Polar Science edited by Gwyn Griffiths and Ken Collins

Reviewed by J Evans

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