1. PRESENTATION ON
AUTONOMOUS UNDERWATER VEHICLES
Presented By
ANIMESH MAHATA
Class Roll No. 002010801007
B.E. (IV) ELECTRICAL ENGINEERING
Supervisor Name
Prof. Amitava Chatterjee
Prof. Gautam Sarkar
Prof. Mitta Dutta
JADAVPUR UNIVERSITY
3. .
---: Diving into the Future :---
The Rise of Autonomous Underwater
Vehicles
4. CONTENTS
• Introduction
• What are Autonomous Underwater Vehicles?
• AUV’s Structure
• Functional Classification
• Features of Applied AUV Systems
• Applications of Autonomous Underwater Vehicles
• Challenges of Autonomous Underwater Vehicles
• Future of Autonomous Underwater Vehicles
• Discussion and Future Challenges
• Conclusions
• References
5. INTRODUCTION
• The vastness of our oceans has always been a source of mystery and
intrigue for humans. But with over 80% of the ocean floor unexplored, how
can we possibly uncover its secrets? This is where Autonomous
Underwater Vehicles, or AUVs, come in.
• AUVs are robotic vehicles that can operate underwater without human
intervention. They use advanced technology to navigate the ocean depths,
collecting data and images that were previously inaccessible to us. From
studying marine life to mapping the ocean floor, AUVs are revolutionizing
the way we explore and understand our planet's last frontier.
6. WHAT ARE AUTONOMOUS UNDERWATER VEHICLES?
Autonomous Underwater Vehicles, or AUVs, are
unmanned vehicles that can operate underwater
without human intervention. AUVs have been around
since the 1950s, but it wasn't until the 1990s that
advancements in technology made them more practical
and cost-effective.
A typical AUV consists of a computer, sensors,
propulsion system, and power supply. The computer
controls the AUV's movements and collects data from
the sensors, which can include cameras, sonar, and
other instruments. The propulsion system allows the
AUV to move through the water, and the power supply
provides energy for the AUV's systems. AUVs can be
programmed to follow a specific path or to operate
autonomously, making decisions based on the data
they collect.
7. The body structure of AUV is an important element as it
safely houses all the mechanical and the electronic
components in a watertight enclosure. The shape of the AUV
also affects the dynamics of motion because of the fluid-
structure interaction with the surrounding water. Inspired from
submarines, AUVs are generally torpedo shaped
Apart from these artificial structures, AUVs have taken
inspiration from nature and mimicked aquatic animals. In
addition to exploration and other underwater applications,
these bio-mimetic AUVs can seamlessly integrate to the
marine environment to study and understand the aquatic life
without disturbing them. Fish robots are most popular among
the bio-mimetic AUVs
AUVs have also been developed which mimic other aquatic
animals such as snake, turtle, beetle and crab etc.
AUV’S STRUCTURE
Typical structure of an AUV. Design of the MBARI mapping AUV
8. AUV’S STRUCTURE
AUVs nowadays are adapting modular design in the body structure. The whole AUV is a combination of different modules such as propulsion, sensor
modules which can be easily and quickly replaced in case of a failure as well as can be interchanged with different modules according to the mission
requirements. Such modular AUVs are highly versatile and incur less maintenance cost. ‘AUV-150’ , ‘MAYA’, ‘STARFISH’, ‘Bluefin21’, ‘SPARUS II’,
‘FOLAGA’, ‘MARTA are examples of some modular AUVs’.
Fig. 1. (a)“REMUS-6000”
(c)“U-CAT”
Fig:-2 (b)“Bluefin-21”
(d) Kawasaki AUV
Fig. 2. Robotic fish “ichthus”
Fig. 3. Soft robotic fish “Sofi”
Fig:-4
Fig:-3
Fig:-1 Fig:-2
10. Propulsion or Drive
System
Power Sources Navigation and
Positioning Systems:
Mapping and Sampling
Systems
Different systems and elements
are used to impulse the vehicle,
e.g., regarding to the steering rotor
and propeller issues, with multiple
shapes and materials in the market
nowadays. An appropriate
propulsion system is set according
to the vehicle morphology and use.
It is studied by aerodynamics and
fluid mechanics scientists, taking
into account the hull shape, where
its design will be relevant for the
correct effectivity of the vehicle.
There is some research about the
optimization of the trajectory control
and propulsion systems, using
different mathematical and
algorithmic advances related to the
vectorial positioning of the vehicles,
studying velocity and yaw
components to improve AUV
mission autonomy. AUVSIPRO is a
simulation software developed for
performance prediction with different
propulsion system configurations,
providing an effective method for the
hull hydrodynamic study.
The most common warehouse and
storage methods are the standard
commercial batteries developed,
e.g., magnesium-seawater battery, a
pressure tolerant Li-ion battery and
an aluminum-hydrogen peroxide (Al/
H2O2) semi fuel cell, where different
types of them, e.g., alkaline cell or
fuel cell, are used depending on the
function of buoyancy changes,
system simplicity or depth
requirements. There are novel
energy sources under research
now, e.g., based on hydrogen fuel
cells or the combination of the afore
mentioned systems, using the
renewable energies of special
interest.
These vehicles work in large
offshore areas and need proper
systems and methods to guide their
trajectories. It is important to have
reliable navigation and positioning
for underwater surveys. AUV
navigation and localization
techniques can be divided
according to three categories:
Acoustic transponders and
modems; Inertial/dead reckoning
and; Geophysical techniques. They
consist of hardware and software
architecture systems, e.g., the well-
known Extended Kalman Filter
range-only localization and light
beacons algorithmic combinations
They monitor different areas or the
seabed by generating 2-D and 3-D
operational maps employed in
multiple applications, e.g., sonar
technologies. The main and current
sensors used for this issue are
detailed in Table 1. The optical
cameras often employ LED
illumination due to the darkness
present in submarine work, allowing
a wide range light condition. The
information collected by these
systems can be transferred to
audiovisual documents, providing
real time remote exploration in
some cases, employing techniques
as submarine image processing
approaches, e.g., image de-
scattering process, image high
definition assessments and image
color restoration. The number of
studies about the optical capture
and camera systems is rising due to
the importance of graphical
documents for maintenance works.
11. Table 1 – Summary of navigation and mapping embedded systems in AUV for Underwater Offshore Inspections
Application System Sensor Technology Features
Navigation CTD/Sonde Geophysical sensor Different simple and single sensors that properly configured and
assembled, can form a functional block like tracking and positioning
applications.
Gyroscope Geophysical sensor
Magnetometers Geophysical sensor
Accelerometer Inertial sensor
Barometer/Pressure Sensor Inertial sensor
Doppler Velocity Log (DVL) Inertial sensor Measure the velocity of the AUV with respect to the ground. The position
estimation accuracy can improve greatly by Kalman filter. DVL will
consist of 4 or more beams
Baseline (Long/Ultra Short) Beacon (Acoustic) They can provide a complete ubication information of the AUV, however,
these methods could present information delay and low measurement
accuracy, producing stability errors.
Mapping Sidescan Imaging Type Sonar (Acoustic) Intensity of returns measure to originate 2D seabed image. Beams are
directed perpendicular to route direction. Phase correlation and
preprocessing methods have been used to improve the system.
Multibeam echosounders Rating Type Sonar (Acoustic) Improving the single beam,obtaining a full coverage measurement in the
area, wide range,high sensitivity and broadband response with high
sensitivity.Work with time from returns form bathymetric maps.
Subbottom Profilers Rating Type Sonar (Acoustic) Low frequency echosounders that investigate the seafloor.
Forward Look Imaging Type Sonar (Acoustic) Similar method to a side-scan sonar, but with directed forward beams.
Recent studies use this method combining with convolutional neural
networks for objects detection.
Camera Geophysical sensor (Optical Optical graphics capturing and imaging processing. Relevant method for
biological and geological surveys.
12. Acoustic navigation (a)Usbl (b)SBL (c)LBL.
Ultra-Short Baseline(USBL) Short Baseline(SBL) Long Baseline(LBL)
AUV is localized relative to a surface
vehicle fitted with an array of acoustic
transducers (Fig.(a)). Relative distance is
calculated from the time of travel of the
acoustic signal and direction from the
phase difference of the signal received by
different transducers. Here the transducers
are placed close to one-another
Here the transducers are placed in front
and back of the surface vehicle (Fig.(b)).
Thus the baseline is limited to the length of
the vehicle which limits the positional
accuracy of the AUV.
In this case, the transducers are widely
placed over the mission area on the
seabed. Localization is done by
triangulating the range estimated by
acoustic transducers. The major limitation
is the huge cost and time involved in
placing the transducers on the seabed.
Siddiqui et al. (2015) used LBL acoustic
ranging. Sound speed profile was shown
to affect acoustic localization and such
environmental parameters were
considered for effective path planning
13. One of the main advantages of AUVs is their ability to work
following a programmed route. There are several methods to follow
these routes, for example, using acoustic beacons on the seabed,
GPS location, baseline acoustic communication, inertial navigation.
It could be based on the combination of Conductivity, Depth and
Temperature (CDT) sensors, inertial sensors and Doppler Velocity
Logs (DVL). In contrast to gliders, that use a buoyancy engine and
follow a wavy path, AUVs are able to retain a linear route through
the sea. For this reason, these vehicles are suitable for geoscience
applications that require a constant altitude, such as seabed
mapping and sub-bottom profiling remotely, allowing tasks in a
remote area.
FEATURES OF APPLIED AUV SYSTEMS
Fig. 4. AUV Control unit block diagram.
14. • Autonomous Underwater Vehicles (AUVs) have a wide range of applications in various fields,
including oceanography, marine biology, and defense.
• In oceanography, AUVs are used to collect data on water temperature, salinity, and currents. This
information is crucial for understanding climate change and predicting weather patterns. In marine
biology, AUVs are used to study marine life and their habitats. For example, researchers use AUVs
to study coral reefs and monitor the health of fish populations. In defense, AUVs are used for tasks
such as mine detection and reconnaissance missions.
• Nowadays AUV is also applying in marine geoscience such as Submarine volcanism and
hydrothermal vents, Fluid-escape features and chemosynthetic ecosystems, Benthic habitat
mapping, Seafloor morphology associated with bedforms, scours and scarps
• AUVs are often used as survey platforms to map the seafloor or characterize physical, chemical, or
biological properties of the water. A large variety of AUVs are in existence, ranging from vehicles
weighing tens of kilograms, to vehicles weighing thousands of kilograms.
APPLICATIONS OF AUTONOMOUS UNDERWATER VEHICLES
17. • Designing and operating Autonomous Underwater Vehicles (AUVs) is not without its
challenges. One of the main issues faced by engineers is communication. Unlike
surface vessels, AUVs cannot rely on radio waves to transmit data, as water absorbs
radio waves quickly. To overcome this problem, researchers have developed acoustic
modems that use sound waves to communicate with the AUV.
• Another challenge is navigation. GPS signals do not penetrate water, so AUVs must
rely on other methods for navigation. These include inertial navigation systems, which
use accelerometers and gyroscopes to track the AUV's movement, and acoustic
positioning systems, which use sound waves to determine the AUV's location. Power
is also a major concern, as AUVs require a lot of energy to operate. To address this
issue, engineers are developing more efficient batteries and exploring alternative
power sources, such as fuel cells.
CHALLENGES OF AUTONOMOUS UNDERWATER VEHICLES
18. • As technology continues to advance at a rapid pace, the future of autonomous underwater vehicles
(AUVs) looks brighter than ever before. With the development of more advanced sensors, propulsion
systems, and artificial intelligence, AUVs are becoming more capable and versatile than ever before.
• In the coming years, we can expect to see AUVs being used for a wide range of applications beyond
their current uses in oceanography, marine biology, and defense. For example, AUVs could be used
for deep-sea mining, oil and gas exploration, and even search and rescue missions. The possibilities
are truly endless.
• Furthermore, with the increasing use of renewable energy sources, it is likely that AUVs will become
more environmentally friendly as well. We may see the use of solar or wind-powered AUVs in the near
future, which would greatly reduce their impact on the environment.
• Overall, the future of AUVs is incredibly exciting. As researchers and engineers continue to push the
boundaries of what is possible, we can expect to see these remarkable machines revolutionize the
way we explore and understand the world's oceans.
FUTURE OF AUTONOMOUS UNDERWATER VEHICLES
19. DISCUSSION AND FUTURE CHALLENGES
The instrumentation and measurement systems for AUVs are
not thoroughly studied in the literature. The main paradigms
to cover in AUVs include progress in routing, mapping sonar,
energy storage and drive systems. Non-linear mathematical
methods for the control units are beginning to be used to
cover the needs of new and advanced materials, e.g., “smart
materials” and vehicle shape and morphology, for modifying
hydrodynamic conditions using flexible hull with new
composite materials above mentioned, and modulating the
drag and mass qualities of the hull to get better control of the
vehicle’s forward speed. Management politics and legal
implications about AUVs are important requirements for
increasing the reliability of AUVs in the scientific sector due
to the high cost of equipment employed and the data
collected. This interest has generated several studies to
evaluate and manage the risk associated with AUV
improvements . The increasing use of AUVs will demand
updating in relation to legal matters and diplomatic
authorization. Probably these rules will be different for each
type of user, i.e., commercial, military or scientific research .
The legal definition of AUV generates many doubts
regarding the kind of vehicle classification. These
bureaucratic issues will become important in situations of
rescue, dangerous trajectories, incursions in unauthorized
areas,
Fig. 7: -. Possible timetable for the
development of AUV technology shows a
current state of continous research strategy for
the future economic return
Fig. 6: -Global AUV demand by sector 2011-2020
20. • In the last 15 years, AUVs have rapidly emerged as a vital tool for marine geoscientists, especially those
involved in seafloor mapping and monitoring. The ability of these vehicles to fly at relatively low altitude over
the seabed enables them to collect spatial data at far higher resolution than surface vessels, especially in
deep water. When used in conjunction with other platforms as part of a nested survey, a complete package of
regional vessel-based mapping, high-resolution targeted AUV survey, and ROV video ground-truthing and
sampling can be deployed. In addition to seafloor mapping, AUVs have been used to detect expelled
hydrothermal or cold seep fluids in the water column. Continued development of new vehicles and sensors will
increase the range of marine geoscience applications, while advances in artificial intelligence will increase
reliability and flexibility. AUVs are already capable of making decisions that allow them to avoid seafloor or
under-ice collisions, and increasingly these vehicles are developed with sufficient intelligence that they can
adapt their surveys according to changes in the environment they are monitoring, e.g. discovering a
hydrothermal . When combined with new drivers such as Marine Protected Area monitoring and site surveys
for offshore renewable installations, it is clear that AUVs will continue to play an increasingly important role in
the exploration and monitoring of the oceans
CONCLUSIONS
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