NDLI: Underwater structure observation by the AUV with laser pointing device

Content Provider	IEEE Xplore Digital Library
Author	Kondo, H. Ura, T.
Copyright Year	2002
Description	Author affiliation: Inst. of Ind. Sci., Univ. of Tokyo, Japan (Kondo, H.; Ura, T.)
Abstract	To observe underwater structures such as artificial piles in harbors by taking visual images, the autonomous underwater vehicles (AUVs) have advantages that they have no problem related to the umbilical cable which may get entangled with the target object and surrounding obstacles. It is usually difficult to measure the precise configuration of such objects by using acoustic measurement systems because of poor resolution and diffused reflection of sound. This paper proposes sensing and navigation methods to observe such objects based on images by a CCD camera with laser pointers, on the assumption that the visibility is enough for taking their visual images. The navigation system cannot provide accurate enough position. Thus, AUVs change over their navigation basis from navigation system to relative position to the target so as to trace the shape of that. The proposed method was implemented in the testbed AUV Tri-Dog 1 and proved experimentally through tank tests. The vehicle accomplished the mission that autonomously detects 3 piles of 1 meter in diameter that are modeled on actual piles in a harbor, and turns around them. Based on the proposed system, AUVs will be able to carry out surveys of the target object without any help from outside.
Sponsorship	IEEE Oceanic Eng. Soc. Inst. Ind. Sci., Univ. Tokyo U.S. Office of Naval Res. Int. Field Office, Asia
Starting Page	178
Ending Page	183
File Size	425735
Page Count	6
File Format	PDF
ISBN	0780373979
DOI	10.1109/UT.2002.1002423
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-04-19
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Underwater structures Navigation Acoustic measurements Testing Underwater vehicles Umbilical cable Optical reflection Acoustic reflection Charge coupled devices Charge-coupled image sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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