DocumentCode :
2372804
Title :
The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000m depth
Author :
Bowen, Andrew D. ; Yoerger, Dana R. ; Taylor, Chris ; McCabe, R. ; Howland, J. ; Gomez-Ibanez, Daniel ; Kinsey, James C. ; Heintz, Matthew ; McDonald, Glenn ; Peters, Donald B. ; Fletcher, Benjamin ; Young, Cliff ; Buescher, J. ; Whitcomb, Louis L. ; Mart
Author_Institution :
Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Instn., Woods Hole, MA
fYear :
2008
fDate :
15-18 Sept. 2008
Firstpage :
1
Lastpage :
10
Abstract :
This paper reports an overview of the new Nereus hybrid underwater vehicle and summarizes the vehicle´s performance during its first sea trials in November 2007. Nereus is a novel operational underwater vehicle designed to perform scientific survey and sampling to the full depth of the ocean of 11,000 meters - almost twice the depth of any present-day operational vehicle. Nereus operates in two different modes. For broad area survey, the vehicle can operate untethered as an autonomous underwater vehicle (AUV) capable of exploring and mapping the sea floor with sonars and cameras. For close up imaging and sampling, Nereus can be converted at sea to operate as a tethered remotely operated vehicle (ROV). This paper reports the overall vehicle design and design elements including ceramic pressure housings and flotation spheres; manipulator and sampling system; light fiber optic tether; lighting and imaging; power and propulsion; navigation; vehicle dynamics and control; and acoustic communications.
Keywords :
manipulators; mobile robots; path planning; remotely operated vehicles; underwater vehicles; AUV; Nereus hybrid underwater robotic vehicle; ROV; acoustic communication; autonomous underwater vehicle; camera; ceramic pressure housing; flotation sphere; global ocean science operation; light fiber optic tether; manipulator; navigation; sampling system; sonar; tethered remotely operated vehicle; vehicle dynamics; Marine vehicles; Mobile robots; Oceans; Optical design; Optical imaging; Remotely operated vehicles; Sampling methods; Sea floor; Sonar; Underwater vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2008
Conference_Location :
Quebec City, QC
Print_ISBN :
978-1-4244-2619-5
Electronic_ISBN :
978-1-4244-2620-1
Type :
conf
DOI :
10.1109/OCEANS.2008.5151993
Filename :
5151993
Link To Document :
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