Title :
Ship Hull Inspection with the HAUV: US Navy and NATO Demonstrations Results
Author :
Vaganay, J. ; Elkins, M. ; Esposito, D. ; O´Halloran, W. ; Hover, F. ; Kokko, M.
Author_Institution :
Bluefin Robotics Corp., Cambridge, MA
Abstract :
The HAUV is a ship hull inspection vehicle prototype jointly developed by Bluefin Robotics and MIT over the past three years, under Office of Naval Research and PMS-EOD funding. The HAUV employs a unique DVL-based hull-relative navigation and control approach, which allows close-range sonar imaging, without recourse to any external navigation aid and without preparation of the ship being inspected. This paper presents results obtained with the vehicle during two demonstrations: the US Navy´s HULSFest 2006 and NATO´s Harbor Protection Trials 2006
Keywords :
oceanographic equipment; remotely operated vehicles; sonar imaging; underwater vehicles; Bluefin Robotics; DVL-based hull-relative navigation; HAUV; HULSFest 2006; Harbor Protection Trials 2006; MIT; NATO; Office of Naval Research; PMS-EOD funding; US Navy; ship hull inspection vehicle; sonar imaging; Actuators; Batteries; Boats; Global Positioning System; Inspection; Marine vehicles; Optical fibers; Remotely operated vehicles; Robots; Sonar navigation;
Conference_Titel :
OCEANS 2006
Conference_Location :
Boston, MA
Print_ISBN :
1-4244-0114-3
Electronic_ISBN :
1-4244-0115-1
DOI :
10.1109/OCEANS.2006.307039
