BathyBoat: Autonomous surface command and control for underwater vehicle networks
This paper reports the preparation of two modified Ocean-Server AUV systems and the construction of a new autonomous surface vessel (ASV) for cooperative simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). The Marine Hydrodynamics Laboratories (MHL) has design...
Main Authors: | , , , |
---|---|
Other Authors: | , , |
Format: | Article in Journal/Newspaper |
Language: | English |
Published: |
2010
|
Subjects: | |
Online Access: | https://hdl.handle.net/2027.42/65070 |
id |
ftumdeepblue:oai:deepblue.lib.umich.edu:2027.42/65070 |
---|---|
record_format |
openpolar |
spelling |
ftumdeepblue:oai:deepblue.lib.umich.edu:2027.42/65070 2023-08-20T04:08:38+02:00 BathyBoat: Autonomous surface command and control for underwater vehicle networks Brown, Hunter Meadows, Guy Jenkins, Liza Shuchman, Robert A. Naval Architecture and Marine Engineering, Department of Michigan Tech Research Institute, Michigan Technological University Ann Arbor 2010-02 399402 bytes application/pdf https://hdl.handle.net/2027.42/65070 en_US eng https://hdl.handle.net/2027.42/65070 Proceedings of the Underwater Intervention 2010 Conference Autonomous Vehicle ASV AUV Underwater Network Naval Architecture and Marine Engineering Engineering Article 2010 ftumdeepblue 2023-07-31T21:07:30Z This paper reports the preparation of two modified Ocean-Server AUV systems and the construction of a new autonomous surface vessel (ASV) for cooperative simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). The Marine Hydrodynamics Laboratories (MHL) has designed and fabricated the new ASV BathyBoat to serve as a targeted remote sensing platform and a mobile command and control center for underwater search and survey activities performed by UMich Perceptual Robotics Laboratory (PeRL) AUVs. The ASV is outfitted with a suite of sensors including a RadarSonics 250 acoustic depth sensor, Garmin WAAS-enabled GPS, Honeywell HMR3300 digital compass and accelerometer, Vernier CON-BTA conductivity probe, a WHOI Micro-Modem for two-way communication with the AUVs, and other sensors discussed subsequently. Wireless data transmission from the surface offers the ability to monitor, in real-time, the state of the AUVs. In addition, updated mission objectives can be relayed, from ship or shore, through the ASV for mid- mission adjustments. Ongoing scientific and engineering research objectives are discussed, along with an overview of the new autonomous surface vessel and a summary of field trials on the North Slope of Alaska. NSF #IIS 0746455 ONR #N00014-07-1-0791 Michigan Tech Research Institute http://deepblue.lib.umich.edu/bitstream/2027.42/65070/1/UI2010_Final.pdf Article in Journal/Newspaper north slope Alaska University of Michigan: Deep Blue |
institution |
Open Polar |
collection |
University of Michigan: Deep Blue |
op_collection_id |
ftumdeepblue |
language |
English |
topic |
Autonomous Vehicle ASV AUV Underwater Network Naval Architecture and Marine Engineering Engineering |
spellingShingle |
Autonomous Vehicle ASV AUV Underwater Network Naval Architecture and Marine Engineering Engineering Brown, Hunter Meadows, Guy Jenkins, Liza Shuchman, Robert A. BathyBoat: Autonomous surface command and control for underwater vehicle networks |
topic_facet |
Autonomous Vehicle ASV AUV Underwater Network Naval Architecture and Marine Engineering Engineering |
description |
This paper reports the preparation of two modified Ocean-Server AUV systems and the construction of a new autonomous surface vessel (ASV) for cooperative simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). The Marine Hydrodynamics Laboratories (MHL) has designed and fabricated the new ASV BathyBoat to serve as a targeted remote sensing platform and a mobile command and control center for underwater search and survey activities performed by UMich Perceptual Robotics Laboratory (PeRL) AUVs. The ASV is outfitted with a suite of sensors including a RadarSonics 250 acoustic depth sensor, Garmin WAAS-enabled GPS, Honeywell HMR3300 digital compass and accelerometer, Vernier CON-BTA conductivity probe, a WHOI Micro-Modem for two-way communication with the AUVs, and other sensors discussed subsequently. Wireless data transmission from the surface offers the ability to monitor, in real-time, the state of the AUVs. In addition, updated mission objectives can be relayed, from ship or shore, through the ASV for mid- mission adjustments. Ongoing scientific and engineering research objectives are discussed, along with an overview of the new autonomous surface vessel and a summary of field trials on the North Slope of Alaska. NSF #IIS 0746455 ONR #N00014-07-1-0791 Michigan Tech Research Institute http://deepblue.lib.umich.edu/bitstream/2027.42/65070/1/UI2010_Final.pdf |
author2 |
Naval Architecture and Marine Engineering, Department of Michigan Tech Research Institute, Michigan Technological University Ann Arbor |
format |
Article in Journal/Newspaper |
author |
Brown, Hunter Meadows, Guy Jenkins, Liza Shuchman, Robert A. |
author_facet |
Brown, Hunter Meadows, Guy Jenkins, Liza Shuchman, Robert A. |
author_sort |
Brown, Hunter |
title |
BathyBoat: Autonomous surface command and control for underwater vehicle networks |
title_short |
BathyBoat: Autonomous surface command and control for underwater vehicle networks |
title_full |
BathyBoat: Autonomous surface command and control for underwater vehicle networks |
title_fullStr |
BathyBoat: Autonomous surface command and control for underwater vehicle networks |
title_full_unstemmed |
BathyBoat: Autonomous surface command and control for underwater vehicle networks |
title_sort |
bathyboat: autonomous surface command and control for underwater vehicle networks |
publishDate |
2010 |
url |
https://hdl.handle.net/2027.42/65070 |
genre |
north slope Alaska |
genre_facet |
north slope Alaska |
op_relation |
https://hdl.handle.net/2027.42/65070 Proceedings of the Underwater Intervention 2010 Conference |
_version_ |
1774721032600420352 |