An intelligent dock for an autonomous ocean sampling network

We examine the issues associated with the design, at an algorithmic level, of a dock capable of autonomous or near autonomous operations in tending to and serving as a data and power repository for autonomous underwater vehicles. The emphasis in this application is on long term deployments in the deep ocean at remote sites, as part of an autonomous ocean sampling network. The system consists of a full ocean mooring with a surface expression for satellite and other communications which is connected to the dock located at depth. The docking system itself is an amalgamation of electronic and mechanical systems designed to allow the vehicle to approach from any direction while serving the needs to transfer data from the AUV and to charge its batteries. On the algorithmic level, we utilize a finite state machine which based on input from its sensors ensures that the AUV is securely docked; decides and reacts to a vehicle that requires charging; tracks it when it is out on a mission; grabs the data that the AUV collects during its mission; while providing the mechanism for interacting with a person far removed from the remote site to learn about vehicle status and command high level missions