High Resolution Seabed Sub-Bottom Profiler for AUV

2011 ◽  
Author(s):  
Wilfrid Merlin ◽  
Darrell Mouland ◽  
William Markuske ◽  
Peter King ◽  
Ron Lewis ◽  
...  
Keyword(s):  
High Resolution ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Concept Design ◽  
Design Work ◽  
Broad Array ◽  
Airplane Wing ◽  
Exciting Area ◽  
Memorial University Of Newfoundland ◽  
Water Depths

Memorial University of Newfoundland (Memorial) is undertaking a novel and exciting area of interdisciplinary research and development related to Autonomous Underwater Vehicles (AUV). AUVs are an untethered, unmanned technology that enables a broad array of research, especially in hazardous underwater environments, that cannot be achieved by other means. In spring 2010, Memorial University commenced design work on a project that aims to provide a means to conduct high-resolution sub-bottom seabed surveys in water depths up to 1000 m (3281 ft), using a new imaging sub-bottom profiler technology with a 10 cm (3.9 in) resolution that has never been deployed on an AUV. The purpose of this project is to integrate a long-array sub-bottom profiler developed by PanGeo Subsea Inc. of Canada, into Memorial’s Explorer AUV by building a new vehicle section that resembles a thick airplane wing with a span of 3.5 m (11.5 ft). Memorial University is working to make the new equipment easily adaptable and removable from the Explorer AUV while in operation. The Explorer AUV equipped with this new sub-bottom profiler capability will be operational in 2012. In this paper, the underlying design criteria and challenges are discussed. A preliminary concept design is described and coarsely evaluated for technical feasibility.

scholarly journals Sensors to Increase the Security of Underwater Communication Cables: A Review of Underwater Monitoring Sensors

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 737 ◽  
Author(s):  
Dimitrios Eleftherakis ◽  
Raul Vicen-Bueno
Keyword(s):  
Operational Research ◽  
Research Study ◽  
Critical Infrastructure ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Decision Makers ◽  
Sensitive Information ◽  
Underwater Communication ◽  
Unmanned Surface Vehicles ◽  
Water Depths

Underwater communication cables transport large amounts of sensitive information between countries. This fact converts these cables into a critical infrastructure that must be protected. Monitoring the underwater cable environment is rare and any intervention is usually driven by cable faults. In the last few years, several reports raised issues about possible future malicious attacks on such cables. The main objective of this operational research and analysis (ORA) paper is to present an overview of different commercial and already available marine sensor technologies (acoustic, optic, magnetic and oceanographic) that could be used for autonomous monitoring of the underwater cable environment. These sensors could be mounted on different autonomous platforms, such as unmanned surface vehicles (USVs) or autonomous underwater vehicles (AUVs). This paper analyses a multi-threat sabotage scenario where surveying a transatlantic cable of 13,000 km, (reaching water depths up to 4000 m) is necessary. The potential underwater threats identified for such a scenario are: divers, anchors, fishing trawls, submarines, remotely operated vehicles (ROVs) and AUVs. The paper discusses the capabilities of the identified sensors to detect such identified threats for the scenario under study. It also presents ideas on the construction of periodic and permanent surveillance networks. Research study and results are focused on providing useful information to decision-makers in charge of designing surveillance capabilities to secure underwater communication cables.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

scholarly journals Autonomous Underwater Vehicles and Field of View in Underwater Operations

2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Field Of View ◽  
Guidance System ◽  
Control Algorithms ◽  
Deep Waters ◽  
Underwater Cameras ◽  
Optimal Resolution ◽  
Acquisition Processes ◽  
And Control

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

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