Nukhada USV: a Robot for Autonomous Surveying and Support to Underwater Operations (original) (raw)

Design and Development of a Robotic Vehicle for Shallow-Water Marine Inspections

ArXiv, 2020

Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a compact and economical observation class Remotely Operated Vehicle (ROV) prototype, intended for carrying out scientific research in shallow-waters. The ROV has a real-time processor and controller onboard, which synchronizes the movement of the vehicle based on the commands from the surface station. The vehicle piloting is done using the onboard Raspberry pi camera and the support of some navigation sensors like Global Positioning System (GPS), inertial, temperature, depth and pressure. This prototype of ROV is a compact unit built using a limited number of components and is suitable for underwater inspection using a single camera. The developed ROV is initially tested in a pool.

A Mechatronic Description of an Autonomous Underwater Vehicle for Dam Inspection

Design and Implementation, 2013

Driven by the rising demand for underwater operations concerning dam structure monitoring, Hydropower Plant (HPP), reservoir, and lake ecosystem inspection, and mining and oil exploration, underwater robotics applications are increasing rapidly. The increase in exploration, prospecting, monitoring, and security in lakes, rivers, and the sea in commercial applications has led large companies and research centers to invest underwater vehicle development. The purpose of this work is to present the design of an Autonomous Underwater Vehicle (AUV), focusing efforts on dimensioning structural elements and machinery and elaborating the sensory part, which includes navigation sensors and environmental conditions sensors. The integration of these sensors in an intelligent platform provides a satisfactory control of the vehicle, allowing the movement of the submarine on the three spatial axes. Because of the satisfactory fast response of the sensors, one can determine the acceleration and inc...

Surveying of Underwater Robot for Marine Exploration

This paper describes a small underwater robot designed for marine exploration, with sensors and XBee for wireless transmission. The robot is based on the Arduino platform, which is used extensively as an experimental testbed. The movement of the robot will be controlled by wirelessly transmitting commands via Xbee. The components and construction of the robot are described. Preliminary tests of pH measurement, pressure measurement and temperature measurement are analysed and reported.

Development and Initial Testing of an Autonomous Surface Vehicle for Shallow Water Mapping

2015

Current technology offers variety of methods for underwater mapping a.k.a. bathymetry where Autonomous Surface Vehicle (ASV) is used to complement the weakness of other bathymetry approach. In initializing the design of AquaDrone ASV, it started from deciding the specification of the ASV to draw a guideline of the prototype limit. The hull of the ASV was the first to be taken into consideration due to the measure of the vessel’s payload and stability. It was built with dual control modes which are the autonomous and the tele-operated mode with Global Positioning System (GPS) receiver and compass module to assist its localization and navigation. The ASV was then tested at swimming pool, ponds and lakes to analyze its performance on maneuvering, sensors fusion, data logging, and communication range. It was proved to be operational.

Autonomous underwater vehicles for scientific and naval operations

2006

Recognizing the potential of autonomous underwater vehicles for scientific and military applications, in 1997 MIT and the NATO Undersea Research Centre initiated a Joint Research Project (GOATS), for the development of environmentally adaptive robotic technology applicable to mine counter measures (MCM) and rapid environmental assessment (REA) in coastal environments. The August 2001 GOATS Conference marked the end of this 5 years project, but did not mark the end of the work. The Centre initiated in 2002 a new long-term programme to explore and demonstrate the operational benefits and performances of AUV for covert preparation of the battlespace. Recently the work addressed the evaluation of commercial off-the-shelf (COTS) AUV technology for MCM operations in response to terrorist mining of port. The paper summarizes the work performed and refers to the scientific publications derived from the AUV programme at the NATO Undersea Research Centre. #

Design, Development and Testing of Underwater Vehicles: ITB Experience

The last decade has witnessed increasing worldwide interest in the research of underwater robotics with particular focus on the area of autonomous underwater vehicles (AUVs). The underwater robotics technology has enabled human to access the depth of the ocean to conduct environmental surveys, resources mapping as well as scientific and military missions. This capability is especially valuable for countries with major water or oceanic resources. As an archipelagic nation with more than 13,000 islands, Indonesia has one of the most abundant living and non-organic oceanic resources. The needs for the mapping, exploration, and environmental preservation of the vast marine resources are therefore imperative. The challenge of the deep water exploration has been the complex issues associated with hazardous and unstructured undersea and sea-bed environments. The paper reports the design, development and testing efforts of underwater vehicle that have been conducted at Institut Teknologi Bandung. Key technology areas have been identified and step-by-step development is presented in conjunction with the need to meet the challenge of underwater vehicle operation. A number of future research directions are also highlighted.

Unmanned Surface And Undersea Vehicles: Capabilities And Potential

International conference KNOWLEDGE-BASED ORGANIZATION, 2015

This paper proposes a new technological solution for the sea observation using an Unmanned Surface Vehicle (USV) or Unmanned Undersea Vehicles (UUV). The term USV refers to any vehicle that operates on the surface of the water without a crew. USVs have the potential, and in some cases the demonstrated ability, to reduce risk to manned forces, provide the necessary force multiplication to accomplish military missions, perform tasks which manned vehicles cannot, and do so in a way that is affordable for the navy. In this paper we examine the use of unmanned vehicles (USV and UUV) which can replace the manned sea patrol system with additional sensors and high performance communication systems in future.