Gateway Buoy and RECON software to enable exploration and research of estuaries using adaptive sampling by REMUS-100 autonomous underwater vehicles
Abstract
We propose to purchase equipment and develop software that will enable intelligent adaptive samplingcapabilities of Autonomous Underwater Vehicles (AUVs) used in estuaries and rivers. We will modify twoREMUS 100 AUVs for use in the upcoming Under Sea Remote Sensing (USRS), an ONR funded DRI tostudy up to eight river systems over the next five years. We will deploy the upgraded AUVs to study theeffects non-hydrostatic features (e.g., fronts, salt wedge) on sediment suspension and redistribution andunderwater acoustic communications. Our proposed system is composed of a Gateway communicationsbuoy (GW buoy) and two Remote Control Capability (RECON) add-on boards which we will install intothe AUVs. The GW buoy will allow real-time tracking of the AUV progress through its mission,monitoring of the hydrographic conditions, and the ability to alter the AUV survey line. Since the AUVscommunicate acoustically to the GW buoy, and the estuarine features of interest are known todramatically deteriorate these communications, we propose to further implement an advancedautonomous adaptive sampling capability, namely RECON, on each AUV. The AUVs will then be able tomake their own decisions on redirects based on real-time environmental information from the sensorsonboard the AUV (e.g., optical and acoustic backscatter, and bathymetry). The end goal is to be able todeploy an AUV near the mouth of an estuary with poorly-known bathymetry and limited acousticnavigational aids, let the AUV enter the estuary and self-navigate upriver to safely explore the estuaryand record the presence of estuarine features that affect turbulent mixing, turbidity, and underwateracoustic communications, then return the AUV to the ship located outside of the estuary for recoveryand delivery of data.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 04, 2017
- Source ID
- N000141712166
Entities
People
- Craig Mcneil
Organizations
- Office of Naval Research
- United States Navy
- University of Washington