Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.
Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.
Ribas, D., Ridao, P., Turetta, A., Melchiorri, C., Palli, G., Fernandez, J., et al. (2015). I-AUV Mechatronics Integration for the TRIDENT FP7 Project. IEEE/ASME TRANSACTIONS ON MECHATRONICS, 20(5), 2583-2592 [10.1109/TMECH.2015.2395413].
I-AUV Mechatronics Integration for the TRIDENT FP7 Project
MELCHIORRI, CLAUDIO;PALLI, GIANLUCA;
2015
Abstract
Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.| File | Dimensione | Formato | |
|---|---|---|---|
|
PP I-AUV_Mechatronics_Integration_for_the_TRIDENT_FP7_Project.pdf
Open Access dal 25/02/2017
Tipo:
Postprint
Licenza:
Licenza per accesso libero gratuito
Dimensione
2.28 MB
Formato
Adobe PDF
|
2.28 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
