Autonomous Underwater Vehicle Technology Research Articles

Application Field and Development Trend of Small Autonomous Underwater Vehicle

In recent years, with the implementation and promotion of the national Marine strategy - "toward deep blue", it means that our exploration of the ocean is no longer limited to the offshore, and at the same time, countries around the world are also deeply exploring the ocean. Small autonomous underwater vehicle technology is not only playing an increasingly prominent role in Deep Blue's strategy, but also plays an important role in industries such as industry, agriculture, and services. This paper describes the application development and future prospect of small autonomous underwater vehicle in various fields.

An Overview of Machine Learning Techniques in Local Path Planning for Autonomous Underwater Vehicles

Autonomous underwater vehicles (AUVs) have become attractive and essential for underwater search and exploration because of the advantages they offer over manned underwater vehicles. Hence the need to improve AUV technologies. One crucial area of AUV technology involves efficiently solving the path planning problem. Several approaches have been identified from the literature for AUV global and local path planning. The use of machine learning (ML) techniques in overcoming some of the challenges associated with AUV path planning problems such as safety and obstacle avoidance, energy consumption, and optimal time and distance travelled remains an active research area. While there is literature on global and local path planning that explores different techniques, there is still a lack of paper that provides an overview of the application of ML for local path planning. Hence the main objective of this paper is to present an overview of the state-of-the-art application of ML techniques on local path planning for AUVs. The ML algorithms are discussed under supervised, unsupervised, and reinforcement learning. The challenges faced in real-life deployment, simulated scenarios, computational issues, and application of ML algorithms are discussed, with future research directions presented.

Advantages of aquatic animals as models for bio-inspired drones over present AUV technology

Robotic systems are becoming more ubiquitous, whether on land, in the air, or in water. In the aquatic realm, aquatic drones including ROVs (remotely operated vehicles) and AUVs (autonomous underwater vehicles) have opened new opportunities to investigate the ocean depths. However, these technologies have limitations related to shipboard support, programing, and functionality in complex marine environments. A new form of AUV is being developed to become operational. These drones are based on animal designs and capabilities. Biological AUVs (BAUVs) promise to improve performance in the varied environments of the ocean. Comparison of animal swimming performance with conventional AUVs and BAUVs demonstrates that natural systems still have swimming capabilities beyond the current state of AUV technology. However, the performances of aquatic animals with respect to swimming speed, efficiency, maneuverability, and stealth can serve as benchmarks to direct the development of bio-inspired AUV technology with enhanced capabilities.

Development of Autonomous Underwater Vehicles Technology

Development of Autonomous Underwater Vehicles Technology

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

Abstract. Autonomous Underwater Vehicles (AUVs), benefiting from significant investments in the past years, are commonly used for military security and offshore Oil&Gas applications. The ARROWS project, aimed at exporting the AUV technology to the field of underwater archaeology, a low-budget research field compared to the previous ones. The paper focuses on the strategy for vehicle coordination adopted within the project, a Search and Inspection (S&I) approach borrowed from the defense field (e.g., mine countermeasure – MCM) that proved to be an efficient solution also for the main phases of an underwater archaeological mission. The other main novelty aspect is represented by MARTA (MArine Robotic Tool for Archaeology) AUV: it is a modular vehicle easily and quickly reconfigurable developed in the framework of ARROWS according to the project Archaeological Advisory Group (AAG) guidelines. Results from the final demonstration of the project, held in Estonia during Summer 2015, are proposed in the paper as an experimental proof of the validity of the proposed S&I strategy, and MARTA functioning and its adaptability to the mission requirements. Even in its first prototype version, MARTA successfully played the Inspection role within the AUV team, collaborating with a commercial Search AUV. Acoustic and optical data collected during the mission and processed to increase their intelligibility for the human operator are proposed and discussed.

Research status of autonomous underwater vehicles in China

Recently, the autonomous underwater vehicle (AUV) has become a research hotspot with regard to unmanned underwater vehicles (UUVs). The AUV has been widely used in marine scientific research, marine resource investigations, and marine security assurance. With the support of the state, China has made an important breakthrough in deep-sea AUV technology. AUVs have played an irreplaceable role in various deep-sea resource surveys on a large scale in voyage applications. The paper introduces the research status of foreign AUVs, the development of Chinas deep-sea AUVs, and prospects the trend of the deep-sea AUV in China.

Guest Editorial Cutting edge autonomous underwater vehicle technology

This special issue focuses on the rapidly evolving technologies on autonomous underwater vehicles (AUVs). AUVs are now widely used in the world as a useful tool to explore underwater environments. We would like to share an overview of the latest state of the AUV technologies and applications, and evoke discussions on current challenges and future developments. The special issue features invited prominent papers from the Joint Symposium/Workshop 2016 IEEE OES Autonomous Underwater Vehicle (AUV 2016), which was held in November 2016 at the University of Tokyo, Japan. It is a biannual workshop organized by the IEEE Oceanic Engineering Society (OES). This event has now become a well-established and prestigious international gathering of some of the best in the field. This time, the workshop was held in Asia for the first time. In total, 73 papers were presented, attracting 133 participants from 20 countries. The workshop covers all topics relevant to AUVs, from component technologies to operation, in single-track sessions providing opportunities for the researchers and engineers to discuss the relevant technologies in detail. Today, as AUVs become commercially available and operated around the world, we believe the workshop should address not only the technology to develop a new AUV, but also cover more extensive interests related to AUVs - from the know how obtained through operation to the data collected by AUVs. We tried to incorporate this idea into the program. The special issue papers are briefly summarized.

Deployment of a passive acoustic collision alarm for autonomous underwater vehicles

Autonomous underwater vehicles (AUVs) operate in increasingly busy environments, and avoiding collisions with ships is an important aspect of the vehicle's decision framework. Advances in low-cost AUV technology has further raised interest in solutions that minimize the need for specialized equipment. A proposed solution is to passively detect and track boats based on their noise. We have developed and demonstrated an algorithm that uses changes in acoustic power to estimate time to collision. A cylindrical propagation model is used for shallow-water environments, to relate measured power with range from a source. The time-derivative of this result is computed to estimate the time to closest approach, for a ship with unknown but constant acoustic source level. Experiments were performed with vessels of various characteristic frequencies and source levels. Acoustic measurements were recorded through off-the-shelf hydrophones. Estimates from the acoustic method were first compared with GPS-based measurements, and later with the AUV's on-board navigation data. Test missions were deployed to alter AUV behavior in response to approaching acoustic sources. Successful estimates and AUV responses were recorded, although improved signal processing and noise filtering is recommended for future implementations. [Work supported by Lincoln Laboratory and DARPA.]

Design and testing of an innovative cleaning tool for underwater applications

The aim of this work is to describe the development of an innovative cleaning tool for underwater applications, to be used in particular in the field of underwater archaeology. This work takes place in the framework of the EU FP7–funded ARROWS project. ARROWS adapts and develops low-cost autonomous underwater vehicle technologies to significantly reduce the costs of underwater archaeological operations, covering the full extent of archaeological campaigns. The project deals with underwater mapping, diagnosis and cleaning tasks. During the first half of the project, a cleaning tool prototype, able to be mounted on underwater vehicles, has been worked out: this cleaning tool will be exploited not only during research missions but also for the periodic monitoring, controlling and maintenance activities of well-known underwater archaeological sites (e.g. periodic cleaning operations).

Underwater robots: a review of technologies and applications

Purpose This paper aims to provide details of underwater robot technology and its applications. Design/methodology/approach Following an introduction, this article first discusses remotely operated vehicle (ROV) technology and applications and then considers their use in the emerging field of deep-sea mining. It then discusses autonomous underwater vehicle (AUV) technology and its applications, including sub-sea gliders. Finally, brief concluding comments are drawn. Findings ROVs were first developed in the 1950s for military applications. They are now widely used by the offshore oil and gas sector and other industries and are being developed for deep-sea mining. AUV technology has progressed rapidly in recent years and AUVs, including sub-sea gliders, are now emerging from their original role in oceanographic research and finding growing uses in the defence and offshore energy sectors. Originality/value This provides a detailed insight into underwater robot technologies, products and applications.

AUV technology for seabed characterization and geohazards assessment

Autonomous underwater vehicles (AUV) are untethered submarine robots that can be used to carry out deepwater mapping and seabed-characterization surveys (seafloor to 150-m depth). AUV surveys are used in the marine petroleum industry for various exploration, environmental, geohazard, and engineering applications. Typically, AUVs are launched from a mother ship. They execute a preprogrammed survey pattern and are recovered, and the survey data are downloaded for analysis. Data on water depth, geomorphology, stratigraphy, and structure ranging downward to 150 m below the seafloor routinely are collected using a variety of sensing technology. Principal survey tools include a multibeam echo sounder to provide water column, bathymetric, and seafloor-reflectivity data; a side-scan sonar to provide high-resolution seafloor imagery; and a subbottom profiler (1- to 24-kHz seismic-reflection tool) to show subseafloor stratigraphy and structural features. Other AUV survey tools can include still cameras, lidar scanners, magnetometers, geochemical sensors (CO2, CH4, PAH, dissolved oxygen), and temperature and salinity sensors. AUV surveys help deepwater exploration and development to proceed efficiently and safely and thus have become an indispensable tool for deepwater operations.

Integrating field survey data with satellite image data to improve shallow water seagrass maps: the role of AUV and snorkeller surveys?

Repeatable and accurate seagrass mapping is required for understanding seagrass ecology and supporting management decisions. For shallow (<5 m) seagrass habitats, these maps can be created by integrating high spatial resolution imagery with field survey data. Field survey data for seagrass are often collected via snorkelling or diving. However, these methods are limited by environmental and safety considerations. Autonomous underwater vehicles (AUVs) are used increasingly to collect field data for habitat mapping, albeit mostly in deeper waters (>20 m). Here, we demonstrate and evaluate the use and potential advantages of AUV field data collection for calibration and validation of seagrass habitat mapping of shallow waters (<5 m), from multispectral satellite imagery. The study was conducted in the seagrass habitats of the Eastern Banks (142 km2), Moreton Bay, Australia. In the field, georeferenced photographs of the seagrass were collected along transects via snorkelling or an AUV. Photographs from both collection methods were analysed manually for seagrass species composition and then used as calibration and validation data to map seagrass using an established semi-automated object-based mapping routine. A comparison of the relative advantages and disadvantages of AUV and snorkeller-collected field data-sets and their influence on the mapping routine was conducted. AUV data collection was more consistent, repeatable and safer in comparison with snorkeller transects. Inclusion of deeper water AUV data resulted in mapping of a larger extent of seagrass (~7 km2, 5% of study area) in the deeper waters of the site. Although overall map accuracies did not differ considerably, inclusion of the AUV data from deeper water transects corrected errors in seagrass mapped at depths to 5 m, but where the bottom is visible on satellite imagery. Our results demonstrate that further development of AUV technology is justified for the monitoring of seagrass habitats in ongoing management programmes.

Sub-decadal turbidite frequency during the early Holocene: Eel Fan, offshore northern California

Remotely operated and autonomous underwater vehicle technologies were used to image and sample exceptional deep sea outcrops where an ~100-m-thick section of turbidite beds is exposed on the headwalls of two giant submarine scours on Eel submarine fan, offshore northern California (USA). These outcrops provide a rare opportunity to connect young deep-sea turbidites with their feeder system. 14 C measurements reveal that from 12.8 ka to 7.9 ka, one turbidite was being emplaced on average every 7 yr. This emplacement rate is two to three orders of magnitude higher than observed for turbidites elsewhere along the Pacific margin of North America. The turbidites contain abundant wood and shallow-dwelling foraminifera, demonstrating an efficient connection between the Eel River source and the Eel Fan sink. Tur bidite recurrence intervals diminish fivefold to ~36 yr from 7.9 ka onward, reflecting sea-level rise and re-routing of Eel River sediments.

Autonomous Underwater Vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience

Autonomous Underwater Vehicles (AUVs) have a wide range of applications in marine geoscience, and are increasingly being used in the scientific, military, commercial, and policy sectors. Their ability to operate autonomously of a host vessel makes them well suited to exploration of extreme environments, from the World’s deepest hydrothermal vents to beneath polar ice sheets. They have revolutionized our ability to image the seafloor, providing higher resolution seafloor mapping data than can be achieved from surface vessels, particularly in deep water. This contribution focuses on the major advances in marine geoscience that have resulted from AUV data. The primary applications are i) submarine volcanism and hydrothermal vent studies, ii) mapping and monitoring of low-temperature fluid escape features and chemosynthetic ecosystems, iii) benthic habitat mapping in shallow- and deep-water environments, and iv) mapping of seafloor morphological features (e.g. bedforms generated beneath ice or sediment-gravity flows). A series of new datasets are presented that highlight the growing versatility of AUVs for marine geoscience studies, including i) multi-frequency acoustic imaging of trawling impacts on deep-water coral mounds, iii) collection of high-resolution seafloor photomosaics at abyssal depths, and iii) velocity measurements of active submarine density flows. Future developments in AUV technology of potential relevance to marine geoscience include new vehicles with enhanced hovering, long endurance, extreme depth, or rapid response capabilities, while development of new sensors will further expand the range of geochemical parameters that can be measured.

Submarine channel initiation, filling and maintenance from sea‐floor geomorphology and morphodynamic modelling of cyclic steps

AbstractAdvances in acoustic imaging of submarine canyons and channels have provided accurate renderings of sea‐floor geomorphology. Still, a fundamental understanding of channel inception, evolution, sediment transport and the nature of the currents traversing these channels remains elusive. Herein, Autonomous Underwater Vehicle technology developed by the Monterey Bay Aquarium Research Institute provides high‐resolution perspectives of the geomorphology and shallow stratigraphy of the San Mateo canyon‐channel system, which is located on a tectonically active slope offshore of southern California. The channel comprises a series of crescent‐shaped bedforms in its thalweg. Numerical modelling is combined with interpretations of sea‐floor and shallow subsurface stratigraphic imagery to demonstrate that these bedforms are likely to be cyclic steps. Submarine cyclic steps compose a morphodynamic feature characterized by a cyclic series of long‐wave, upstream‐migrating bedforms. The bedforms are cyclic steps if each bedform in the series is bounded by a hydraulic jump in an overriding turbidity current, which is Froude‐supercritical over the lee side of the bedform and Froude‐subcritical over the stoss side. Numerical modelling and seismic‐reflection imagery support an interpretation of weakly asymmetrical to near‐symmetrical aggradation of predominantly fine‐grained net‐depositional cyclic steps. The dominant mode of San Mateo channel maintenance during the Holocene is interpreted to be thalweg reworking into aggrading cyclic steps by dilute turbidity currents. Numerical modelling also suggests that an incipient, proto‐San Mateo channel comprises a series of relatively coarse‐grained net‐erosional cyclic steps, which nucleated out of sea‐floor perturbations across the tectonically active lower slope. Thus, the interaction between turbidity‐current processes and sea‐floor perturbations appears to be fundamentally important to channel initiation, particularly in high‐gradient systems. Offshore of southern California, and in analogous deep‐water basins, channel inception, filling and maintenance are hypothesized to be strongly linked to the development of morphodynamic instability manifested as cyclic steps.

Comparing Autonomous Underwater Vehicle (AUV) and Vessel-based Tracking Performance for Locating Acoustically Tagged Fish

Autonomous underwater vehicles (AUV’s) are increasingly used to collect physical, chemical, and biological information in the marine environment. Recent efforts include merging AUV technology with acoustic telemetry to provide information on the distribution and movements of marine fish. We compared surface vessel and AUV tracking capabilities under rigorous conditions in coastal waters near Juneau, Alaska. Tracking surveys were conducted with a REMUS 100 AUV equipped with an integrated acoustic receiver and hydrophone. The AUV was programmed to navigate along predetermined routes to detect both reference transmitters at 20–500 m depths and tagged fish and crabs in situ. Comparable boat surveys were also conducted. Transmitter depth had a major impact on tracking performance. The AUV was equally effective or better than the boat at detecting reference transmitters in shallow water, and significantly better for transmitters at deeper depths. Similar results were observed for tagged animals. Red king crab, Paralithodes camtschaticus, at moderate depths were recorded by both tracking methods, while only the AUV detected Sablefish, Anoplopoma fimbria, at depths exceeding 500 m. Strong currents and deep depths caused problems with AUV navigation, position estimation, and operational performance, but reflect problems encountered by other AUV applications that will likely diminish with future advances, enhanced methods, and increased use.

Robotic Roustabouts for Tomorrow's Subsea Fields

Robotic submarines, capable of operating by themselves thousands of feet underwater for months or perhaps years at a time, are under development as the vanguard of tomorrow’s subsea oil and gas fields. This development comes as the offshore oil and gas industry moves into ever-deeper waters and remote areas of the world, where installing a floating production facility is either economically unjustifiable or infeasible. The industry’s solution is to install production equipment on the seafloor, where someone, or something, must keep a close eye on all of it. That something is likely to be what are known as field resident autonomous underwater vehicles (AUVs). Nonresident AUVs have already paved the way by proving they can carry out detailed inspections of platforms and pipelines in some cases four times faster than a human-piloted remotely operated vehicle (ROV). Two of the leading companies in the resident AUV business, Lockheed Martin and Saab Seaeye, are blending proven military technology with new software and hardware optimized for the offshore industry. Their emerging systems represent a new breed of subsea robots that will be capable of much more than earlier generations of autonomous systems. As their capabilities are realized, resident AUVs will eventually be assigned many of the same tasks that ROVs are carrying out today. To achieve that end, offshore operators are working with manufacturers to identify how best to fully deploy this emerging technology. Much of the groundwork is being laid through DeepStar, a research and development consortium that counts 11 operating companies as members. “We are already using AUVs for certain functions on a sporadic basis, but we’re trying to understand, as operators, what else this technology can do reliably,” said Greg Kusinski, DeepStar director and Chevron senior advisor to DeepStar. DeepStar’s primary goal is to accelerate the development and adoption of AUV technology by drafting interface standards, similar to the standards already developed for ROVs. Among the interface issues yet to be resolved is how resident AUVs will connect to life support systems in a subsea field. Because resident AUVs will have to remain submerged for months to possibly years at a time, the docking station is a critical piece of equipment that will charge up the AUV and upload its data to the operator’s server by a subsea Internet connection. Once the particulars of the docking station are understood, Kusinski said careful consideration must be given to other issues, such as where to place it among the subsea infrastructure. “There are a lot of questions of that nature,” he said. “As responsible operators, we are addressing these issues in a very systematic and methodical manner. I don’t think anyone is interested in putting a bunch of them down there and just seeing what happens.” DeepStar expects to conclude its AUV study on interfaces in about a year and will deliver its recommended best practices to the American Petroleum Institute for review.

Deployment of wideband bio-inspired sonars for autonomous underwater operations

Recent developments in the understanding and application of wideband bio-inspired acoustic sensors are enabling new applications of autonomous underwater vehicles (AUVs) for security and oilfield use. Appropriate use of wideband signals has enabled improved discrimination between natural and man-made objects that have physically similar appearance, as well as the detection of buried and partially buried objects. Wideband sonar developments in the Ocean Systems Laboratory at Heriot-Watt University have focused on prototypes based on the bottlenose dolphin sonar, covering a frequency band from around 30 to 150 kHz and having a frequency dependent beam-width that is, considerably larger than conventional imaging sonars. In parallel, AUV technology has developed to allow much greater levels of autonomy in allowable vehicle behavior. New generations of vehicle have moved beyond switching of pre-programmed scripts (behaviors) and their parameters, to systems that interleave planning and execution at a fine grain, or can re-plan mission sections on the fly in response to unexpected events. Combining this improved sensor performance with increased autonomy has enabled a first generation of fielded system to act responsively in tasks such as tracking and inspection of proud or buried cables, and the detection and characterization of mines, beyond being mine like objects. Second generation systems that use their autonomy to optimally take multiple looks and control the spectral content of pings in an environmentally adaptable way are under consideration.

Robotic tools for deep water archaeology: Surveying an ancient shipwreck with an autonomous underwater vehicle

AbstractThe goals of this article are twofold. First, we detail the operations and discuss the results of the 2005 Chios ancient shipwreck survey. This survey was conducted by an international team of engineers, archaeologists, and natural scientists off the Greek island of Chios in the northeastern Aegean Sea using an autonomous underwater vehicle (AUV) built specifically for high‐resolution site inspection and characterization. Second, using the survey operations as context, we identify the specific challenges of adapting AUV technology for deep water archaeology and describe how our team addressed these challenges during the Chios expedition. After identifying the state of the art in robotic tools for deep water archaeology, we discuss opportunities in which new developments and research (e.g., AUV platforms, underwater imaging, remote sensing, and navigation techniques) will improve the rapid assessment of deep water archaeological sites. It is our hope that by reporting on the Chios field expedition we can both describe the opportunities that AUVs bring to fine‐resolution seafloor site surveys and elucidate future opportunities for collaborations between roboticists and ocean scientists. © 2010 Wiley Periodicals, Inc.

Applications of Autonomous Underwater Vehicles in Offshore Petroleum Industry Environmental Effects Monitoring

Abstract Environmental Effects Monitoring (EEM) is an important tool in assisting Environmental Risk Assessment (ERA). EEM in the offshore petroleum industry has been conducted worldwide, but traditional approaches have struggled to keep apace as exploration and production activities move to frontier regions, such as increasingly deeper waters and Arctic regions. This paper proposes the use of autonomous underwater vehicles (AUVs) for environmental monitoring of offshore facilities as a means of improving and expanding the overall monitoring program. The paper provides a review of technical and procedural issues involved in this application of AUV technology, including the current status of offshore oil and gas EEM, a review of available AUVs and a survey of developments in in situ sensors. Introduction Offshore petroleum industry operations affect the marine environment in a variety of ways: high sound levels from seismic surveys that affect marine animals; exposure of marine organisms to drilling mud, produced water discharges and accidentally spilled oils; and the physical alteration of habitat due to the construction of submarine structures. The potential risks to the environment posed by offshore oil and gas operations support the need for effective Environmental Effects Monitoring (EEM) around the project development areas. EEM is a central component of environmental protection and management strategies designed to minimize the consequences of anthropogenic activities(1). It is a very important tool in assisting Environmental Risk Assessment (ERA) which is seen from many studies that link EEM and ERA together(2, 3). EEM is required by regulations governing industry activities offshore, and by government agencies in relation to cumulative impact assessment studies(4). The United States started the use of environmental monitoring programs in 1973. The Mineral Management Services (MMS) is currently responsible for managing oil and gas activities on the outer continental shelf (OCS). In the early stages of EEM programs, MMS monitored the effects of petroleum exploration activities on the George's Bank, Middle Atlantic OCS and the Gulf of Mexico. Early monitoring programs mainly focused on the effects of drilling wastes on benthic communities through a variety of sampling methods, such as camera transects, crab traps, bottom trawls and box corers. The MMS has also monitored the effects of petroleum development and production activities in the Gulf of Mexico, Santa Maria and Western Santa Barbara Channels off California, and in the Alaska Beaufort Sea. Trace metals and hydrocarbons in the water column, sediments, pore waters and biological tissues are collected and analyzed. In Canada, both government agencies and operators have carried out EEM. For example, Petro-Canada collected sediment samples from 49 stations and water samples from 24 stations in an area located in the vicinity of the Terra Nova Oil Field during 2000 to 2001. Analyses of samples included hydrocarbon concentration, metal concentration, particle size and the presence of sulphur, sulphide and ammonia(5). Fisheries and Oceans Canada also conducts annual EEM missions at the Hibernia, Terra Nova and The baud fields off the east coast of Canada. Both sediment and water samples are collected and the biodiversity of benthic organisms are studied using underwater photography.