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Underwater Underwater RobotsRobots
Jenny Gabel | 06.01.2014Jenny Gabel | 06.01.2014
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Introduction
Challenges of Underwater Exploration
Remotely Operated Vehicles
Autonomous Underwater Vehilces
Future Perspectives
References
Table of Contens
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Introduction
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Introduction
1950's:
first models developed out
of robots working on land
remotely operated
funded by U.S. Navy
1960's:
commercial interest and
development (oil industry)
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Introduction
Underwater Robots today:
Unmanned underwater vehicles/robots
Introduced for commercial use in the 1970's
Used in industry, science and research, military
and lately for documentary filming
Two main types: remotely operated and autonomous robots
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Introduction
Vary in shape and size: from small torpedo-shaped to box-shaped as big as a compact car
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Introduction
Power station surveys Destruction of mines Inspection of Dams
Investigation ofsunken objects Oil and gas industry
Operational Areas:
Sea life and environmental research
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Challenges of Underwater Exploration
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Challenges of Underwater Exploration
About 71% of the earth's surface is covered by oceans
Deap-sea: depths beneath 800m, lightless zone (aphotic
zone) = over 70% of the oceans
Up until today very little is researched and known about the deep-sea
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Challenges of Underwater Exploration
High pressure: atmospheric pressure is increasing by 1 atmosphere every 10m diving
Orientation and navigation underwater
Collecting and sending data
Power supply
Size and weight
Reliability and maintainability
Costs
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Remotely Operated Vehicles
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Remotely Operated Vehicles (ROV)
Tethered underwater robots, operated by a human aboard a vessel
Power and communication through tether
Subsea cage to launch and recover the ROV
Mostly rectangular-/box-shaped
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Remotely Operated Vehicles (ROV)
Observation ROV: observation, research, inspection (and documentary filming)
Work class ROV: additonally equipped with
specific tools
Bottom crawling ROV: limited movement across seafloor,
designed for special tasks e.g. burial of deep-sea cables
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Remotely Operated Vehicles (ROV)
1. Work class ROV
2. manipulator arms
3. HD video camera
4. tether
5. various skids for special tasks
6. thruster
7. main floatation
8. ultra high intensityLED light
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Remotely Operated Vehicles (ROV)
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Remotely Operated Vehicles (ROV)
Observation ROV
Low overall weight
→ air transport
Modular components
→ highly configurable
Global Explorer
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Remotely Operated Vehicles (ROV)
Tether components
Limits of ROVs:
Dependent on surface vessel,
tether and operator
Cable has to support weight,
transfer power and
communications
→ Small range and limited
operation time
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Autonomous UnderwaterVehicles
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Computer controlled robot travelling and operating underwater
Own power source and propulsion
Shaped like torpedoes, stingrays or have attached flippers
Autonomous Underwater Vehicles (AUV)
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Autonomous Underwater Vehicles (AUV)
Using sonar and underwater acoustic positioning systems to navigate and map surroundings
Lithium-ion batteries as power source, use of solar power
and hydrogen are still in testing/not marketable
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Autonomous Underwater Vehicles (AUV)
Underwater Glider: slow, but very low power consumption and high range
Intervention AUV: interventions at underwater
facilities or for retrieving biological samples
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Autonomous Underwater Vehicles (AUV)
Modular build, highly configurable:
Turbulence
measurement
Plankton pump
Bioluminesence
detection
Video camera
etc.
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Autonomous Underwater Vehicles (AUV)
Limits of AUV's:
Dependent on capacity
of power source
No complex operations
No real-time images/videos
→ limited tasks and operation time
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Future Perspectives
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Future Perspectives
Diving deeper and deeper into the ocean → development of deep-sea robots
More complex tasks
→ advanced processing capabilities and more efficient
power sources are needed
Combining advantages of ROVs and AUVs
→ development of hybrids that can operate tethered
or untethered
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Future Perspectives
Hybrid „Nereus“
Dove to 10,902 meters into the
Mariana Tench in 2009
AUV mode: survey large undersea
areas and photograph seafloor
ROV mode: precise control and
manipulations, high quality
real-time images
Nereus in ROV-mode
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Future Perspectives
Hybrid „Neureus“
AUV-mode ROV-mode
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Future Perspectives
Bionic robots
Using principles and methods found in nature
AUVs designed based on marine animals
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References
http://www.rov.org/
http://www.geomar.de/
http://www.oceaneering.com/rovs/
http://www.oceaneering.com/rovs/rov-technologies/
http://www.oceaneering.com/subsea-products/deepwater-technical-solutions/rov-tooling/rov-skids/
http://www.oceaneering.com/oceanmedia/rov/rovtutorial/index.html
http://www.globalexplorerrov.com
http://auvac.org/tools-resources/general-information
http://auvac.org/publications/view/174
http://www.km.kongsberg.com/ks/web/nokbg0237.nsf/AllWeb/5DA9836E54D225B6C12575EC003FC3B5?
OpenDocument
http://www.whoi.edu/main/slocum-glider
http://www.link-quest.com/html/lbl_applications.htm
http://ausi.org/research/sauv/http://ausi.org/research/sauv/
https://www.whoi.edu/page.do?pid=7545&tid=3622&cid=57586
http://www.whoi.edu/home/interactive/nereus/