Title :
Enabling technologies for REMUS docking: an integral component of an autonomous ocean-sampling network
Author :
Stokey, Roger ; Allen, Ben ; Austin, Tom ; Goldsborough, Rob ; Forrester, Ned ; Purcell, Mike ; Von Alt, Chris
Author_Institution :
Oceanogr. Syst. Lab., Woods Hole Oceanogr. Instn., MA, USA
fDate :
10/1/2001 12:00:00 AM
Abstract :
A dock for an autonomous underwater vehicle (AUV) allows the vehicle to be left on station ready for deployment. However, it represents a significant engineering challenge, as docking requires an accurate navigation system so that the vehicle can find the dock, and complex mechanics to make the required underwater power and data connections. This paper describes the docking system built for the REMUS AUV. It outlines the basis for the design decisions, the as-built configuration, and its performance once deployed. It also delineates the lessons learned from the deployments, and the refinements in the vehicle that have been made since that time, that will improve the system´s utility and reliability
Keywords :
computerised navigation; optical tracking; propulsion; remotely operated vehicles; underwater acoustic telemetry; underwater vehicles; REMUS AUV docking; SPAWARS; accurate navigation system; as-built configuration; autonomous docking; autonomous ocean sampling network; clamping assembly; conical dock entry; control electronics; dead reckoning; enabling technologies; high-impedance telemetry circuit; optical tracker; robotic systems; single transponder; two-way communication; ultrashort baseline acoustic array; underwater power and data connections; Automotive engineering; Costs; Marine technology; Marine vehicles; Mobile robots; Navigation; Power engineering and energy; Remotely operated vehicles; Steam engines; Underwater vehicles;
Journal_Title :
Oceanic Engineering, IEEE Journal of
