Skip to main content

Advertisement

SpringerLink
Log in

Development of Modular Shallow Water AUV: Issues & Trial Results

  • ORIGINAL CONTRIBUTION
  • Published:
Journal of The Institution of Engineers (India): Series C Aims and scope Submit manuscript

Abstract

In view of their operational ease, autonomous underwater vehicles (AUVs) find wide applications in different sub-sea operations, and the range encompasses bathymetry, seabed mapping, collection of marine data as well as strategic and commercial applications like underwater surveillance and reconnaissance, recovery and monitoring of submerged installations. A modular shallow water AUV having five degrees of freedom—christened AUV-150—has been designed and developed by CSIR-CMERI, Durgapur, India for operating up to a depth of 150 m. A fully functional AUV has been tested at various conditions in accordance to test protocols. This paper relates to the developmental issues, the hurdles faced during various phases of development of the AUV-150 and discusses the experimental results obtained during trials of the AUV in lake and sea.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17

Similar content being viewed by others

Abbreviations

CTD:

Conductivity temperature depth

DVL:

Doppler velocity log

DVS:

Digital video server

EKF:

Extended Kalman filter

FLS:

Forward looking SONAR

GPS:

Global positioning system

INS:

Inertial navigation system

NIOT:

National Institute of Ocean Technology, Chennai, India

NPOL:

Naval Physical and Oceanographic Laboratory, Cochin, India

USBL:

Ultra short base line

References

  1. G. Griffiths (ed.), The Technology and Applications of Autonomous Underwater Vehicles (Taylor & Francis, Abingdon, 2003)

    Google Scholar 

  2. S. Wood, A. Nulph, B. Howell, Application of autonomous underwater vehicles. Sea Technol. 10–14 (2004)

  3. T.B. Curtin, D.M. Crimmins, J. Curcio, C. Roper, Autonomous underwater vehicle: trends and transformations. Mar. Technol. Soc. J. 39(3), 65–73 (2005)

    Article  Google Scholar 

  4. P. Newman, R. Westwood, J. Westwood, in Market Prospects for Autonomous Underwater Vehicle. Proceedings of the 9th Unmanned Underwater Vehicle Showcase (Southamton, UK, 2007)

  5. J.W. Nicholson, A.J. Healey, The present state of autonomous underwater vehicle (AUV) applications and technologies. Mar. Technol. Soc. J. 42, 44–51 (2008)

    Article  Google Scholar 

  6. J. Yuh, Design and control of autonomous underwater robots: a survey, Autonomous Robots vol. 8, (Kluwer Academic Publishers, Dordrecht, 2000), pp. 7–24

  7. D. Richard Blidberg, in The Development of Autonomous Underwater Vehicles (AUV); A Brief Summary. ICRA Conference, Seoul, Korea, 21–25 May 2001

  8. P. Feijun Song, E. An, A. Folleco, Modeling and simulation of autonomous underwater vehicles: design and implementation. IEEE J. Ocean Eng. 28(2), 283–295 (2003)

    Article  Google Scholar 

  9. S.N. Shome, S. Nandy, S.K. Das, D.K. Biswas, D. Pal, in AUV for Shallow Water Applications—Some Design Aspects, International Offshore (Ocean) and Polar Engineering Conference, ISOPE-2008, Vancouver, BC, Canada, July 2008

  10. S.N. Shome, S. Nandy, S.K. Das, D. Pal, B. Mahanty, V. Kumar, R. Ray, D. Banerji, in Autonomous Underwater Vehicle for 150 m Depth–Development Phases and Hurdles Faced. Trends in Intelligent Robotics, Communications in Computer and Information Science, vol. 103 (Springer, Berlin, 2010), pp. 49–56. ISBN-13 978-3-642-15819-4

  11. S.K. Das, S.N. Shome, S. Nandy, D. Pal, in Modeling a Hybrid Reactive-Deliberative Architecture Towards Realizing Overall Dynamic Behavior of an AUV. International Conference on Computational Science, Procedia Computer Science, May 2010, vol. 1(1), pp. 259–268

  12. R. Madhan, E. Desa, S. Prabhudesai, L. Sebastiao, A. Pascoal, E. Desa, A. Mascarenhas, P. Maurya, G. Navelkar, S. Afzulpurkar, S. Khalap, in Mechanical Design and Development Aspects of a Small AUV–MAYA. 7th IFAC Conference on Manoeuvring and Control of Marine Craft (2006)

  13. N. Banerjee, Development of autonomous underwater vehicle for defence applications. J. Ship Technol. 3(2), 18–34 (2007)

    Google Scholar 

  14. N.E. Leonard, Stability of bottom heavy underwater vehicle. Automatica 33(3), 331–346 (1997)

    Article  MathSciNet  MATH  Google Scholar 

  15. T.I. Fossen, Guidance and Control of Ocean Vehicles (Wiley, New York, 1994)

    Google Scholar 

Download references

Acknowledgments

The authors would like to express their gratitude to the Ministry of Earth Sciences, Govt of India for having sponsored the AUV-150 project. The authors thank NIOT and NPOL for their active support during experimentation. The authors would like to acknowledge the support of the entire Robotics and Automation group and other members of CSIR-CMERI associated in the AUV project for their active cooperation.

Author information

Authors and Affiliations

  1. CSIR-Central Mechanical Engineering Research Institute, Durgapur, India

    S. N. Shome, S. Nandy, D. Pal, S. K. Das, S. R. K. Vadali & Jhankar Basu

  2. NIT, Durgapur, India

    Sukamal Ghosh

Authors
  1. S. N. Shome
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. S. Nandy
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. D. Pal
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. S. K. Das
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. S. R. K. Vadali
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jhankar Basu
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Sukamal Ghosh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to S. N. Shome.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Shome, S.N., Nandy, S., Pal, D. et al. Development of Modular Shallow Water AUV: Issues & Trial Results. J. Inst. Eng. India Ser. C 93, 217–228 (2012). https://doi.org/10.1007/s40032-012-0026-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40032-012-0026-0

Keywords

Search

Navigation