the underwater systems program at the porto university nuno alexandre cruz feup-deec rua dr. roberto...
TRANSCRIPT
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The Underwater Systems The Underwater Systems Program at the Porto UniversityProgram at the Porto University
Nuno Alexandre CruzNuno Alexandre Cruz
FEUP-DEECFEUP-DEECRua Dr. Roberto FriasRua Dr. Roberto Frias
4200-465 Porto, Portugal4200-465 Porto, Portugalhttp://www.fe.up.pt/~nacruzhttp://www.fe.up.pt/~nacruz
Laboratório de Sistemas e Tecnologia SubaquáticaFaculdade de Engenharia da Universidade do Portohttp://www.fe.up.pt/~lsts
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2SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
OutlineOutline
The Underwater Systems and Technology LaboratoryThe Underwater Systems and Technology Laboratory
VehiclesVehicles
– Autonomous underwater vehiclesAutonomous underwater vehicles
– Remotely operated vehicleRemotely operated vehicle
Systems and technologySystems and technology
– Embedded computer systemsEmbedded computer systems
– Navigation systemsNavigation systems
Advanced mission conceptsAdvanced mission concepts
ConclusionConclusion
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3SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
The Underwater Systems The Underwater Systems and Technology Laboratoryand Technology Laboratory
MissionMissionDesign innovative solutions for Design innovative solutions for
oceanographic and oceanographic and environmental applicationsenvironmental applications
PeoplePeople4 Faculty staff4 Faculty staff
10 researchers10 researchers
VehiclesVehiclesAutonomous submarines Autonomous submarines
Remotely operated submarineRemotely operated submarine
TechnologiesTechnologiesNavigation and controlNavigation and control
Acoustic networksAcoustic networks
Networked control systemsNetworked control systems
Power/computer systemsPower/computer systems
ApplicationsApplicationsMonitoring sea outfallsMonitoring sea outfalls
Coastal oceanographyCoastal oceanography
Underwater archaeologyUnderwater archaeology
Inspection and interventionInspection and intervention
SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003 Artwork Courtesy of Michael Incze, NUWC
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4SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
CooperationCooperation
NationalNational
Administração dos Administração dos Portos do Douro e Portos do Douro e LeixõesLeixões
Centro de Centro de Investigação Investigação Marinha e AmbientalMarinha e Ambiental
Instituto Superior de Instituto Superior de Engenharia do PortoEngenharia do Porto
Instituto Instituto HidrográficoHidrográfico
InternationalInternational
University of University of California at California at Berkeley, CA, USABerkeley, CA, USA
Woods Hole Woods Hole Oceanographic Oceanographic Institution, MA, USAInstitution, MA, USA
Naval Postgraduate Naval Postgraduate School, CA, USASchool, CA, USA
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VehiclesVehicles
Autonomous Underwater VehiclesAutonomous Underwater Vehicles
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6SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
IsurusIsurus AUV (1997) AUV (1997) REMUS class AUV (WHOI)REMUS class AUV (WHOI) Length: 1.8mLength: 1.8m Diameter: 20 cmDiameter: 20 cm Weight in air: 35 kgWeight in air: 35 kg Max speed: 2 m/sMax speed: 2 m/s Max range: 100 kmMax range: 100 km Payload sensorsPayload sensors
– Sidescan SonarSidescan Sonar– CTDCTD– Echo sounderEcho sounder– Optical backscatterOptical backscatter– (Video camera)(Video camera)– ……
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7SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Computational systemComputational system
On-board softwareOn-board software
Mission programmingMission programming
Integrated navigation systemIntegrated navigation system
Power supply and power managementPower supply and power management
Actuation systemActuation system
Customization at LSTSCustomization at LSTS
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8SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Operating the Operating the IsurusIsurus AUV AUV
Mission Support SystemMission Support SystemSmall boatSmall boat
LaptopLaptop
Acoustic navigation networkAcoustic navigation network
Operational ProceduresAcoustic network setup
Mission programming
Vehicle launching
...
Vehicle recovery
Data download and processing
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9SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
New Generation AUV New Generation AUV (2003) (2003)
Main featuresMain featuresLow costLow cost
Carbon fiber hullCarbon fiber hull
Modular sensor adaptersModular sensor adapters
Payload: 8 kgPayload: 8 kg
Depth rating: 150 mDepth rating: 150 m
Autonomy: 20 hours +Autonomy: 20 hours +
2 vert. & 2 horiz. fins2 vert. & 2 horiz. fins
1 propeller1 propeller
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IsurusIsurus Missions Missions
BathymetryBathymetry
Oceanographic data collectionOceanographic data collection
Environmental monitoringEnvironmental monitoring
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11SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Estuary of Minho River Estuary of Minho River (1998+)(1998+)
Mission ProfileMission Profile• NW-SE cross sections, 50 m apartNW-SE cross sections, 50 m apart• Section length: 700-1200 mSection length: 700-1200 m• Tracks repeated for various depthsTracks repeated for various depths• Data collected:Data collected:
• Temperature and Salinity (CTD)Temperature and Salinity (CTD)• Bathymetry (CTD & Echosounder)Bathymetry (CTD & Echosounder)
• Width: 1-2 kmWidth: 1-2 km• Depth: 2-5 mDepth: 2-5 m
• Currents: over 1m/sCurrents: over 1m/s
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12SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Estuary of Minho River – Estuary of Minho River – ResultsResults
BathymetryD
ep
th (
m)
North (m) East (m)
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13SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Estuary of Minho River – Estuary of Minho River – Results Results
Temperature and Salinity (@1m depth)
Nor
th (
m)
Nor
th (
m)
East (m) East (m)
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14SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Tapada Do Outeiro (2000+)Tapada Do Outeiro (2000+)
Mission ObjectivesMission Objectives– Study the impact of Study the impact of
discharges from discharges from thermoelectric power thermoelectric power plantplant
– Assess the erosion of the Assess the erosion of the river bedriver bed
Mission DataMission Data– TemperatureTemperature
– Bathymetry profilesBathymetry profiles
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15SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Mission ObjectivesMission Objectives– Evaluation of Evaluation of
environmental impact of environmental impact of sewage outfallsewage outfall
– Find and map the plumeFind and map the plume
Mission ScenarioMission Scenario– Open seaOpen sea
– 2 km off the coast of 2 km off the coast of AveiroAveiro
– 20 m of depth20 m of depth
Aveiro Sea Outfall (2002+)Aveiro Sea Outfall (2002+)
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16SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Mission PlanningMission Planning– Reference data collectionReference data collection
– Simulation of plume behaviorSimulation of plume behavior
– Delimitation of mission areaDelimitation of mission area
– Mission programmingMission programming
Mission DataMission Data– TemperatureTemperature
– SalinitySalinity
– Optical BackscatterOptical Backscatter
Aveiro Sea Outfall – Aveiro Sea Outfall – Planning Planning
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17SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Aveiro Sea Outfall - Aveiro Sea Outfall - OperationsOperations
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18SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
2
4
10
2 4 10
Temperature and SalinityTemperature and Salinity
Aveiro Sea Outfall - ResultsAveiro Sea Outfall - Results
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19SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Aveiro Sea Outfall – Aveiro Sea Outfall – LessonsLessons Launching an AUV at open sea is hardLaunching an AUV at open sea is hard
Recovering an AUV from open sea is VERY hardRecovering an AUV from open sea is VERY hard
MurphyMurphy is ALWAYS watching is ALWAYS watching
Safety measures are never too manySafety measures are never too many
MissionDuration
Wave Height at Leixões2002-07-26 to 2002-08-02
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VehiclesVehicles
Remotely Operated VehicleRemotely Operated Vehicle
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21SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
The IES Project (1999-The IES Project (1999-2002)2002) ObjectivesObjectives
– Develop an automated system for the inspection Develop an automated system for the inspection of underwater structuresof underwater structures
– Provide non-trained operators with autonomous Provide non-trained operators with autonomous and semi-autonomous operation modesand semi-autonomous operation modes
StrategyStrategy– Acquire a customized version of a commercial Acquire a customized version of a commercial
ROVROV– Integrate on-board computational system Integrate on-board computational system – Install navigation and inspection sensorsInstall navigation and inspection sensors– Implement a set of automated maneuversImplement a set of automated maneuvers
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22SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Original ROV (2000)Original ROV (2000)
Customized VehicleCustomized Vehicle– Phantom 500 S (Deep Phantom 500 S (Deep
Ocean Engineering)Ocean Engineering)
– Electronics compartmentElectronics compartment
– Enlarged frameEnlarged frame
– Increased flotationIncreased flotation
– Extra motor powerExtra motor power
(4 * 1/8 hp)(4 * 1/8 hp)
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23SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Doppler
NavigationSensors
Console
IMU
ComputationalSystem
InterfaceDevices
Compass Inclination
Acoustics
Depth Thrusters Lights Pan & TiltVideo Sonar Picture
InspectionSensors
Actuators
ROV
Umbilical
PowerManagement
ROV Hardware ProjectROV Hardware Project
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24SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
ROV Hardware ROV Hardware DevelopmentDevelopment
Main containerMain container– Computational systemComputational system
– Navigation systemNavigation system
– Interface devicesInterface devices
– Power distributionPower distribution
Small containersSmall containers– Power distributionPower distribution
– Power managementPower management
– Motor controlMotor control
– Interface devicesInterface devices
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25SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Current ROV ConfigurationCurrent ROV Configuration Inspection systemInspection system
– Camera: Camera: InspectorInspector (ROS) (ROS)– Pan and Tilt unit (Imenco)Pan and Tilt unit (Imenco)– Lights: up to 600W (DSP&L)Lights: up to 600W (DSP&L)– Forward looking sonar (Imagenex)Forward looking sonar (Imagenex)
NavigationNavigation– DVL: DVL: ArgonautArgonaut (Sontek) (Sontek)– IMU: IMU: HG1700HG1700 (Honeywell) (Honeywell)– Digital Compass: Digital Compass: TCM2TCM2 (PNI) (PNI)– Depth sensor, 730+ (PSI)Depth sensor, 730+ (PSI)– Acoustic Tx/Rx: 20-30 KHzAcoustic Tx/Rx: 20-30 KHz
Computational systemComputational system– PC/104 stack, PC/104 stack, PentiumPentium PC PC– QNXQNX RTOS RTOS– EthernetEthernet
Power supplyJunction boxUmbilicalWinchSpare kit
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26SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
ROV Modes of OperationROV Modes of Operation
Modes of operation
1. Teleoperation:Direct commands using a joystick
2. Teleprogramming:Pre-programmed maneuvers
Real-time Real-time videovideo
SonarSonarDataData EnvironmentEnvironment
MapMapInternalInternal State State
ControlsControls
MotionMotionPlanPlan
Maneuver Maneuver ParametersParameters
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27SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
ROV Operations at APDLROV Operations at APDL
Objectives– Detect corrosion in steel plates protecting walls– Register video footage with localization data– Tag features for diver intervention or latter reinspection
Inspected Structures
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28SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
ROV Operations at APDLROV Operations at APDL
Main Difficulties– Reduced visibility (<0.5m)– Boundary perturbations– Cable dynamics
Solutions– High sensitivity camera– Variable illumination– Multiple sensor fusion for
navigation and control– Navigation info at the
console
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Systems and TechnologiesSystems and Technologies
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30SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Embedded Computational Embedded Computational SystemsSystems
Based on PC/104 technologyBased on PC/104 technology– Small form-factorSmall form-factor– Plenty of COTS vendors and Plenty of COTS vendors and
solutionssolutions– Low-cost boardsLow-cost boards
Software applications and Software applications and drivers developed for RTOSdrivers developed for RTOS
Several systems in operationSeveral systems in operation– Underwater vehicles (AUV/ROV)Underwater vehicles (AUV/ROV)– Automated trucks and bussesAutomated trucks and busses
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31SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Navigation SystemsNavigation Systems Internal devices
– Digital compasses
– Doppler velocimeters
– Inertial systems
– Pressure sensors (depth)
– Acoustic Tx/Rx boards
Algorithms– LBL navigation
– Sensor fusion (Kalman filter)
– Post-mission trajectory smoothing
– External tracking
Navigation networks– Acoustic beacons
– Surface buoys
d2d1
baseline
(not to scale)
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32SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Vehicle NavigationVehicle Navigation
Kalman filter based algorithmKalman filter based algorithm– Filter state: horizontal position and water currentFilter state: horizontal position and water current
– High rate dead-reckoning dataHigh rate dead-reckoning data
– Low rate range measurementsLow rate range measurements
Real-time transponder selectionReal-time transponder selection– Covariance matrix updated in real timeCovariance matrix updated in real time
– Interrogation sequence driven by innovation Interrogation sequence driven by innovation potentialpotential
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33SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Post Mission Trajectory Post Mission Trajectory SmoothingSmoothing
6050 6100 6150 6200 6250 63000
0.5
1
1.5
2
2.5
3
3.5
time (s)
uncert
ain
ty (
m)
smoothedreal-time
55 60 65 70 75 80 85 90 95 100 105 110 115
-80
-75
-70
-65
-60
-55
-50
-45
-40
-35
east (m)
nort
h (m
)
smoothedreal-time
Algorithm based on Algorithm based on the the Rauch-Tung-Striebel Rauch-Tung-Striebel nonlinear smoothernonlinear smoother
State similar to the State similar to the online filteronline filter
Estimates depend on Estimates depend on past and “future” datapast and “future” data
Uses data recorded on Uses data recorded on the on-board computerthe on-board computer
Trajectorydetail
Uncertainty
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34SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Passive Tracking AlgorithmPassive Tracking Algorithm
vehicle pings txponder #1
txponder detects &
replies
vehicle detects & pings
txponder #2
t1 t1
t2 t3
t1 t4
t2
t4
t3 t2
txponder detects &
replies
vehicle detects & pings
txponder #1
txponder detects &
replies
time
time
2* t1 + t2 + t3 2* t4 + t2 + t3
ping #1 detected
ping #2 detected
ping #1 detected
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35SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
External Tracking External Tracking MechanismMechanism Normal operationNormal operation
– Listenning device just detects pings sent by the vehiclesListenning device just detects pings sent by the vehicles– After two interrogations, a range is computedAfter two interrogations, a range is computed– Listenning device can be located anywhere within acoustic Listenning device can be located anywhere within acoustic
range (including other AUVs!)range (including other AUVs!)– Vehicles keep navigating at the end of missionVehicles keep navigating at the end of mission
Emergency operationEmergency operation– Simple commands can be sent to the vehiclesSimple commands can be sent to the vehicles– Vehicles carry an automatic responderVehicles carry an automatic responder– Ranges can be estimated even with computer system shut Ranges can be estimated even with computer system shut
downdown
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36SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Interface to the navigation beaconsInterface to the navigation beacons– display of acoustic signals being transmitted and receiveddisplay of acoustic signals being transmitted and received
– map the position of the surface buoys (GPS)map the position of the surface buoys (GPS)
– map the position of the vehiclesmap the position of the vehicles
– reconfiguration of the frequency pairsreconfiguration of the frequency pairs
– transmission of “special”transmission of “special” commands commands
Flexible operationFlexible operation– runs on any laptop connected runs on any laptop connected
to a radio modemto a radio modem
– may run on several locationsmay run on several locationssimultaneouslysimultaneously
Mission Tracking Mission Tracking SoftwareSoftware
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37SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Multifrequency acoustic beaconMultifrequency acoustic beaconMulti-channel transmitter and receiverMulti-channel transmitter and receiver
Programmable frequency pairsProgrammable frequency pairs
Simultaneous navigation of multiple vehiclesSimultaneous navigation of multiple vehicles
Medium frequency signals (20-30khz), over 2km rangeMedium frequency signals (20-30khz), over 2km range
Surface BuoysSurface BuoysStainless steel structureStainless steel structure
Polyurethane flotation disc Polyurethane flotation disc
GPS receiverGPS receiver
Radio modemRadio modem
Acoustic Navigation Acoustic Navigation NetworkNetwork
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38SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Multipurpose Surface BuoyMultipurpose Surface Buoy
Radio antenna
Fiberglass coated Polyurethane foam
Underwater cablesand connectors
Nylon/PVC cylinder
Acoustic transducerTo anchor
MultifrequencyTransponder
Acoustic navigation Acoustic navigation Moored sensorsMoored sensors Communication relayCommunication relay Waterproof container
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Advanced Mission ConceptsAdvanced Mission Concepts
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40SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
The PISCIS Project (2002-The PISCIS Project (2002-2005)2005)
ObjectivesObjectives– Development of a new generation AUVDevelopment of a new generation AUV– Simultaneous navigation of multiple AUVsSimultaneous navigation of multiple AUVs– Coordinated operation of AUVsCoordinated operation of AUVs– Specification and control of sensor driven missionsSpecification and control of sensor driven missions
LSTS ApproachLSTS Approach– Improvement in mechanical Improvement in mechanical
designdesign– Development of acoustic Development of acoustic
navigation systemsnavigation systems– Synthesis of controllers for Synthesis of controllers for
networked vehiclesnetworked vehicles
ConsortiumConsortium– FEUP, CIMAR, APDL, ISEPFEUP, CIMAR, APDL, ISEP
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41SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Advanced Mission ConceptsAdvanced Mission Concepts
Real-time adaptive samplingReal-time adaptive sampling– Model of oceanographic processesModel of oceanographic processes– Coarse survey to localize featuresCoarse survey to localize features– Track features and identify model parametersTrack features and identify model parameters
Cooperative missionsCooperative missions– Each vehicle makes a local measurementEach vehicle makes a local measurement– Vehicles share a minimum of dataVehicles share a minimum of data
Gradient followingGradient following– Detect and follow a given gradientDetect and follow a given gradient– Possibilities for single and multiple vehiclesPossibilities for single and multiple vehicles
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42SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003
Conclusions and Future Conclusions and Future WorkWork
SUMARE Workshop, Villefranche-sur-Mer, 15-16 October 2003 Artwork Courtesy of Michael Incze, NUWC
ConclusionsConclusions– The LSTS team has accumulated valuable expertise in development and integration of underwater The LSTS team has accumulated valuable expertise in development and integration of underwater
systems and technologiessystems and technologies– Low operational costs allowed for development validation by intensive field operationsLow operational costs allowed for development validation by intensive field operations– Research has been driven by end-user requirements and strongly influenced by mission resultsResearch has been driven by end-user requirements and strongly influenced by mission results
What’s ahead?What’s ahead?– New AUV expected to be tested during 2003New AUV expected to be tested during 2003– New AUV fully operational in 2004New AUV fully operational in 2004– Navigation of multiple AUVs expected during 2004Navigation of multiple AUVs expected during 2004– Coordinated operation of AUVs expected during 2004Coordinated operation of AUVs expected during 2004– Communication between AUVs, buoys and shore during 2004Communication between AUVs, buoys and shore during 2004– New sensors for ROV during 2004New sensors for ROV during 2004– Intervention capabilities for ROV during 2004Intervention capabilities for ROV during 2004
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Thank You.Thank You.
Questions?Questions?