Ship Hull Inspection with the HAUV: US Navy and NATO Demonstrations Results

Author

Vaganay, J. ; Elkins, M. ; Esposito, D. ; O´Halloran, W. ; Hover, F. ; Kokko, M.

Author_Institution

Bluefin Robotics Corp., Cambridge, MA

fYear

2006

fDate

18-21 Sept. 2006

Firstpage

1

Lastpage

6

Abstract

The HAUV is a ship hull inspection vehicle prototype jointly developed by Bluefin Robotics and MIT over the past three years, under Office of Naval Research and PMS-EOD funding. The HAUV employs a unique DVL-based hull-relative navigation and control approach, which allows close-range sonar imaging, without recourse to any external navigation aid and without preparation of the ship being inspected. This paper presents results obtained with the vehicle during two demonstrations: the US Navy´s HULSFest 2006 and NATO´s Harbor Protection Trials 2006

Keywords

oceanographic equipment; remotely operated vehicles; sonar imaging; underwater vehicles; Bluefin Robotics; DVL-based hull-relative navigation; HAUV; HULSFest 2006; Harbor Protection Trials 2006; MIT; NATO; Office of Naval Research; PMS-EOD funding; US Navy; ship hull inspection vehicle; sonar imaging; Actuators; Batteries; Boats; Global Positioning System; Inspection; Marine vehicles; Optical fibers; Remotely operated vehicles; Robots; Sonar navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2006

Conference_Location

Boston, MA

Print_ISBN

1-4244-0114-3

Electronic_ISBN

1-4244-0115-1

Type

conf

DOI

10.1109/OCEANS.2006.307039

Filename

4099158