Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Design and Development of a Remotely-enabled Modular Release Mechanism for Autonomous Underwater Vehicles

Demetrious T. Kutzke, Gustavo E. Miranda López, Robert J. Herman, Harryel Philippeaux

TL;DR

This work introduces RM^2, a low-cost, remotely-enabled release mechanism for autonomous deployment of AUVs from ASVs, designed to accelerate experimental validation of cooperative maritime autonomy. It combines a ROS-based RM2Node controller with a simple mechanical release inside a PVC housing, ensuring modular integration with existing autonomy software and minimal impact on towing vessels. A first-principles hydrodynamic argument establishes conditions for assured release across sea states, supported by bench and in-water experiments that validate the concept and reveal practical implementation issues. The solution aims to lower barriers for early-stage development and testing of maritime cooperative autonomy, while outlining environmental considerations, IoT architecture, and future enhancements such as release-feedback mechanisms.

Abstract

We introduce a launch device, called the remotely-enabled modular release mechanism, to augment rapid testing and prototyping of cooperative autonomy maritime applications by facilitating autonomous deployment of an autonomous underwater vehicle (AUV) from an autonomous surface vessel (ASV). While we focus our development on a specific application of deploying an AUV from a catamaran style ASV, the release mechanism can be adapted to different deployable objects and towing vehicles, such as buoys and sensors for oceanographic surveys or mono-hull ASVs. In this paper we explore a number of hardware and software design considerations to facilitate ease of integration with existing maritime autonomy systems. We expound on bench tests and in-water tests used to explore the utility of the release system and diagnose system issues. Additionally, we make a first-principles argument, based on a hydrodynamics physics model, for assured deployment that is virtually independent of sea state, making the release system a suitable alternative for different maritime applications in varying environmental conditions.

Design and Development of a Remotely-enabled Modular Release Mechanism for Autonomous Underwater Vehicles

TL;DR

This work introduces RM^2, a low-cost, remotely-enabled release mechanism for autonomous deployment of AUVs from ASVs, designed to accelerate experimental validation of cooperative maritime autonomy. It combines a ROS-based RM2Node controller with a simple mechanical release inside a PVC housing, ensuring modular integration with existing autonomy software and minimal impact on towing vessels. A first-principles hydrodynamic argument establishes conditions for assured release across sea states, supported by bench and in-water experiments that validate the concept and reveal practical implementation issues. The solution aims to lower barriers for early-stage development and testing of maritime cooperative autonomy, while outlining environmental considerations, IoT architecture, and future enhancements such as release-feedback mechanisms.

Abstract

We introduce a launch device, called the remotely-enabled modular release mechanism, to augment rapid testing and prototyping of cooperative autonomy maritime applications by facilitating autonomous deployment of an autonomous underwater vehicle (AUV) from an autonomous surface vessel (ASV). While we focus our development on a specific application of deploying an AUV from a catamaran style ASV, the release mechanism can be adapted to different deployable objects and towing vehicles, such as buoys and sensors for oceanographic surveys or mono-hull ASVs. In this paper we explore a number of hardware and software design considerations to facilitate ease of integration with existing maritime autonomy systems. We expound on bench tests and in-water tests used to explore the utility of the release system and diagnose system issues. Additionally, we make a first-principles argument, based on a hydrodynamics physics model, for assured deployment that is virtually independent of sea state, making the release system a suitable alternative for different maritime applications in varying environmental conditions.
Paper Structure (12 sections, 8 equations, 10 figures, 2 tables, 1 algorithm)

This paper contains 12 sections, 8 equations, 10 figures, 2 tables, 1 algorithm.

Table of Contents

  1. Introduction
  2. Related Work
  3. The (RM)^2 System Description
  4. Mechanical Design Considerations
  5. Total Cost
  6. Environmental Conditions
  7. Internet of Things Architecture Considerations
  8. A Theoretical Argument for Assured Release
  9. Experimental Testing
  10. Bench Testing
  11. In-water Testing
  12. Conclusion

Figures (10)

  • Figure 1: (Color online) Renderings of the release mechanism's internal components
  • Figure 2: (Color online) PVC housing for the REMUS 100. The picture is oriented to show the nose portion of the housing
  • Figure 3: (Color online) Artistic renderings of (RM)^2 configurations
  • Figure 4: Free body diagram of the equilibrium forces incident on the AUV under tow
  • Figure 5: (Color online) Corrosion after in-water testing of (RM)^2
  • ...and 5 more figures