Manned Underwater Vehicles Research Articles

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.

Threats from and Countermeasures for Unmanned Aerial and Underwater Vehicles.

The use of unmanned aerial vehicles (UAVs) for different applications has increased tremendously during the past decade. The small size, high maneuverability, ability to fly at predetermined coordinates, simple construction, and affordable price have made UAVs a popular choice for diverse aerial applications. However, the small size and the ability to fly close to the terrain make the detection and tracking of UAVs challenging. Similarly, unmanned underwater vehicles (UUVs) have revolutionized underwater operations. UUVs can accomplish numerous tasks that were not possible with manned underwater vehicles. In this survey paper, we provide features and capabilities expected from current and future UAVs and UUVs, and review potential challenges and threats due to use of such UAVs/UUVs. We also overview the countermeasures against such threats, including approaches for the detection, tracking, and classification of UAVs and UUVs.

Investigation of the properties of carbon fiber reinforced plastics after the seawater exposure

The results of experimental studies of the mechanical characteristics of carbon fibers (CFRPs) before and after their exposure at seawater are presented. The choice of seawater as an operation medium is due to the fact that this carbon fiber is intended for the manufacture of power elements of a manned underwater vehicle. Carbon fibers were made using vacuum infusion technology based on an epoxy binder, and biaxial carbon fabric was used as a reinforcing material. The prepared samples were kept in seawater for 384 h, which made it possible to estimate the amount of water absorption, as well as the change in mechanical characteristics after exposure to seawater. It has been established that the strength of CFRPs does not change during interlayer shear, decreases by 14% during bending, and the value of the elastic modulus, after exposure to seawater, decreases by 17%.

Research of options for maintaining the operability of the traction switched reluctance motors in emergencies

The switched reluctance machines (SRM) in most cases of their application do not have a galvanic connection between the phase windings. It is widely known when one phase fails, SRM as a short circuit in the coil of one of the phases, the others continue to work. This gives you the ability to retain partial performance of the engine. This is especially important for transport systems: an electric car can drive to a depot on its own, and an electric car can drive to a service station. And for some transport systems, such as manned underwater vehicles, maintaining partial performance in emergency situations is a priority requirement-the life support of the crew depends on it.For using a widely applied semi-bridge power supply scheme, the SRM with two transistors for each of the phases of the electric motor, it is not possible to maintain partial performance of the SRM if the only power source fails. To ensure the performance of the type, in the case of a short circuit in the source, a new power supply scheme for the SRM is proposed, containing one transistor for each of the phases of the engine (patent No. 2704494). Each phase is electrified charged from a separate source. For transport systems that have batteries in their composition, the total battery is divided into components by the number of phases. At the same time, the entire electrical circuit of the SRM phase, including the source, is backed up.A simulation of the proposed new power supply circuit was performed in order to confirm its performance and evaluate its functionality. The analysis of the existing Converter circuits used for SRM is carried out, which allows to evaluate the advantages and disadvantages of the proposed circuit solution.

MTS Manned Underwater Vehicles 2017‐2018 Global Industry Overview

AbstractThe manned underwater vehicle industry continues to build momentum into 2018; much of this has been driven by strong market trends and technology. There is renewed growth in the luxury yachting industry, in citizen science, and in ocean philanthropy. Tourism submersibles offer high-end touring expeditions for boutique destinations and specialty cruise ships. In Asia, notably China, Japan, and India, deep-ocean science is gathering attention for research and commercial applications. The industry also benefits from an accepted use of lithium batteries by class societies and strong developments in the areas of navigation and communication technology. Finally, although military development typically focuses on unmanned capabilities, there is more investment in deep submergence submarine rescue vessels.

Simulation of In-Sensor Processes in the Sensor – Object System Type when Scanning the Elements of Underwater Communication Lines with a Probe Beam

The simulated processes describe the interaction between a scanning sensor and an underwater communication line element. The scanning is conducted with a probe beam. This task is relevant for the construction of automated inspection systems for these objects involving autonomous unmanned underwater vehicles. A visual inspection of underwater communications is one of the essential forms of controlling the underwater lines state. Engaging scuba divers or manned underwater vehicles to perform such inspections is cost-ineffective and in most cases rather difficult from the technical perspective, let alone certain risks for the staff. When autonomous unmanned underwater vehicles are adapted for inspection purposes, the crucial problem is to implement automated non-destructive control of the underwater communication lines.

Design of Novel Shaftless Pump-Jet Propulsor for Multi-Purpose Long-Range and High-Speed Autonomous Underwater Vehicle

Owning to its extremely long endurance, small size, cost-effective employment, easy, and fast transported properties, the merits of autonomous underwater vehicles (AUVs) exceed those of manned underwater vehicles. Therefore, it has become an indispensable member in navies throughout the world, as well as with oceanographic research, commercial resource explorations, and especially the underwater search and rescue (SAR) sectors. Up to date, the tragic MH370 and QZ8501 flight incidents have dramatically increasing the awareness of high-performance SAR equipment, which in turn will stimulate the states party to the incident to urgently upgrade their shallow- and deep-sea SAR equipment. To extend the range (endurance) and shorter the searching period for the next generation SAR AUV, a sea water cooled high-power density magnetically slotless permanent magnet brushless motor is proposed and integrated with pump-jet’s impeller to achieve designated shaftless pump-jet propulsor. In this paper, the developed shaftless pump-jet propulsion system is applied in Naval University of Engineering series multi-purpose long-range and high-speed deep-sea AUV, which could provide excellent performance as a SAR platform.

Improvement of the design of manned underwater vehicles by heat insulating buoyancy blocks

Improvement of the design of manned underwater vehicles by heat insulating buoyancy blocks

Hybrid underwater robotic vehicles: the state-of-the-art and future trends

Most of the ocean resources, which cover over 70% of the Earth's surface, are not well discovered or explored. For decades, ocean communities have resorted to underwater robotic vehicles (URVs), remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) to replace human beings or manned underwater vehicles (MUVs) on deep underwater activities. Combining the advantages of ROVs and AUVs, a new type of underwater explorer named the hybrid underwater robotic vehicle (HURV) has been developed for both deep-sea exploration and intervention by switching its dual-operation modes for accomplishing underwater tasks during one single cruise deployment. This paper presents an overview of the state-of-the-art URV system, where the HURV system is the main concern. The concept of the HURV is introduced via a comparison with other underwater vehicles, after which the thinking behind the HURV design is examined and the operational procedure of the HURV is described. Subsequently, the specifications and ca...

Review of Deep Ocean Manned Submersible Activity in 2013

AbstractThe world of manned underwater vehicles (MUV) in 2013 counts a total of 95 active submersibles used for ocean research, tourism, and commercial, leisure, and security applications. The MUV industry safety record remains pristine, with not a single incident involving loss of life in over 40 years. The paper reviews the state and future directions for the world’s deepest ocean research submersibles. In 2012 and 2013, the world of deep research submersibles saw dramatic advances, reaching full ocean depth for the first time in more than 50 years. The record of the world’s deepest submersible held by Japan’s Shinkai 6500, rated to 6,500 m depth, for almost 25 years was surpassed by China’s 10-year development project of the Jiaolong submersible, rated to 7,000 m. The Jiaolong successfully completed its multiyear testing program, achieving full design depth in June 2012. This record feat was eclipsed, however, by the surprise disclosure and full ocean depth dive by James Cameron’s Deepsea Challenger, diving to a depth of 10,908 m in the Mariana Trench just months earlier. This depth had not been reached since the historic dive of the bathyscaphe Trieste in 1960, and brings new energy for several national organizations to develop full ocean depth submersibles. There are today a total of 14 national and commercial submersibles capable of diving 1,000 m or deeper, offering a wide range of services. This also provides a global network of rescue capability with locations in the United States, China, Japan, Russia, France, Spain, Canada, and Portugal.

Visual observations of fish at the Whale Ridge (Atlantic Ocean) from the Sever-2 manned underwater vehicle

Research trawling surveys and visual observations aboard manned underwater vehicles carried out at Whale Ridge revealed 116 species of bottom, near-bottom, over-bottom, and over-bottom-pelagic fish of 46 families. The data on the distribution, number, and behavior, along with some data on biology of the mass fish species, are given in the present paper. The following species prevail by number and biomass: splendid alfonsino Beryx splendens; boarfish Pseudopentaceros richardsoni; redbait Emmelichthys nitidus; flintperch Hoplostethus atlanticus; Helicolenus mouchezi; and fish of families Gempylidae, Oreosomatidae, Macrouridae, Moridae, Alepocephalidae, etc. All these species are subject to fisheries but the boarfish and alfonsino are most commercially important.

2007 MTS Overview of Manned Underwater Vehicle Activity

There are approximately 100 active manned submersibles in operation around the world; in this overview we refer to all non-military manned underwater vehicles that are used for scientific, research, tourism, and commercial diving applications, as well as personal leisure craft. The Marine Technology Society committee on Manned Underwater Vehicles (MUV) maintains the only comprehensive database of active submersibles operating around the world and endeavors to continually bring together the international community of manned submersible operators, manufacturers and industry professionals. The database is maintained through contact with manufacturers, operators and owners through the Manned Submersible program held yearly at the Underwater Intervention conference.The most comprehensive and detailed overview of this industry is given during the UI conference, and this article cannot cover all developments within the allocated space; therefore our focus is on a compendium of activity provided from the most dynamic submersible builders, operators and research organizations that contribute to the industry and who share their latest information through the MTS committee. This article presents a short overview of submersible activity in 2007, including new submersible construction, operation and regulatory activity of research, tourism, commercial diving and recreational applications. The scope of this article is limited to active atmospheric submersibles, and does not include historical, ambient pressure, or laid-up submersibles, which would be an entire article on its own. For a complete overview that includes submersibles not covered in this article, readers are invited to peruse the MTS Manned Underwater Vehicle online database at the committee's website (www.mtsmuv.org).