Publications

Organizations

Publications

This page is meant to be a storehouse for publications that reflect activities of interest to AUVAC and its members. If you have publications that should be added to this list please let us know and we will include them.


Fault Diagnosis Challenge in a Flight-Class Autonomous Underwater Vehicle

October 4, 2011 via - 22nd International Workshop on Principles of Diagnosis

Advanced AUVs that are capable of long duration missions are becoming increasingly common. However, making the vehicles reliable is a significant challenge, and fault detection has an important role to play in achieving this. To enhance the state of the art we present the data of a selection of Autosub 6000 missions. The data is given in DXC format with known faults injected into the logs.

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Exploring the Mid Ocean Ridge and Seamounts with the Autonomous Benthic Explorer, 1995-2008

August 23, 2009 via - AUSI

Since 1994, we have used The Autonomous Benthic Explorer, ABE, for scientific exploration of the Mid-Ocean Ridge and seamounts. ABE has been used on 19 cruises around the world with dives covering over 3600 km of tracklines at an average depth of more than 2000 meters. Notable accomplishments for ABE include the first use of AUVs for seafloor magnetics, the first AUV near bottom bathymetric survey of the Mid-Ocean Ridge, the first systematic discoveries of hydrothermal vent sites by an AUV (Eastern Lau Spreading Center), and the first discoveries of active hydrothermal vent sites by any method on the Southern Mid-Atlantic Ridge and the Southwest Indian Ridge. Other notable surveys include bathymetric surveys of the Lost City hydrothermal site on the Atlantis Massif and the Endeavour segment of the Juan de Fuca Ridge, photo surveys for deep corals on the New England Seamounts and seamounts off Tasmania, and a bathymetric and magnetic survey of Brothers volcano, a seamount on the Kermadec Arc north of New Zealand. In most of these operations, we worked closely with other complementary systems such as the human-occupied submersible Alvin, Jason ROV, the Canadian Ropos ROV, the German Marum and Geomar ROVs, the WHOI Tow Cam, the DSL-120 towed sidescan, tow sleds from China, and the UK Tobi system [Yoerger 2007].

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Underwater Glider Dynamics and Control

December 31, 1969 via - AUSI

We present a linear controller and observer design for autonomous underwater gliders based on a model of glider dynamics that we have derived. Our focus is on buoyancy-propelled, xed-wing gliders with attitude controlled by means of internal mass distribution. In cases when some states cannot be directly measured, such as with oceangoing gliders, the design of an observer o ers possible improvements over current glider control methods.

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