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

Volume

26

Issue

4

fYear

2001

fDate

10/1/2001 12:00:00 AM

Firstpage

487

Lastpage

497

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;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.972082

Filename

972082