Tethered AUV Recovery Vehicle for Precise Docking Without DP
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Solution Overview
Problem
Conventional AUV recovery systems require dynamic positioning (DP) systems, which are energy-intensive and costly, making them impractical for non-DP vessels, and face challenges with asynchronous movements due to environmental factors like surface waves and vessel motion.
Innovation Solution
A modular, autonomous tethered vehicle system that navigates and docks with AUVs below wave-affected zones, using thrusters and sensors for precise alignment, eliminating the need for DP systems on the recovery vessel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If dynamic positioning (DP) systems are used to maintain precise station-keeping during AUV recovery, then alignment and capture precision are improved, but operational cost and energy consumption increase significantly
Solution Approach 1:
An autonomous surface vehicle (ASV) is introduced as an intermediary between the recovery vessel and the AUV. The ASV performs alignment and capture operations autonomously, eliminating the need for expensive DP systems on the recovery vessel. The ASV uses its own propulsion and control systems to maintain position and execute the capture maneuver, while the recovery vessel can drift freely.
Solution Approach 2:
The ASV is equipped with autonomous navigation, positioning, and control capabilities that allow it to independently perform the alignment and capture tasks without requiring external assistance from DP systems. The vehicle uses onboard sensors, thrusters, and control algorithms to self-correct its position and orientation relative to the AUV, completing the recovery operation autonomously.
2Reliability
If DP systems with thrusters are deployed to counteract vessel motion, then capture reliability is improved, but device complexity and crew requirements increase
Solution Approach 1:
The ASV serves as a mobile, autonomous platform that transfers the complexity of active position control from the recovery vessel to a dedicated, specialized vehicle. The ASV's control system is optimized specifically for alignment and capture tasks, incorporating sensors, processors, and actuators designed for this purpose, while the recovery vessel remains simple and can be operated by minimal crew.
Solution Approach 2:
Traditional mechanical DP systems with large thrusters and complex control mechanisms on the recovery vessel are replaced by a smaller, autonomous ASV that uses its own propulsion system and control algorithms. The ASV substitutes the need for heavy mechanical station-keeping equipment on the mother vessel, achieving similar or better control performance with reduced complexity.
3Manufacturing precision
If the recovery vessel maintains precise station-keeping, then alignment between vessel and AUV is improved, but productivity decreases due to limited operational flexibility
Solution Approach 1:
The ASV decouples the alignment function from the recovery vessel, allowing the vessel to focus on transportation and deployment while the ASV handles precise positioning and capture. This separation enables the vessel to operate more flexibly without being constrained by DP system limitations, while the ASV independently ensures precise alignment through its autonomous capabilities.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables cost-effective and reliable AUV recovery from non-DP vessels, reducing operational expenses and enhancing mission resilience by offloading alignment tasks to the tethered vehicle, allowing continuous multi-vehicle operations.
Implementation Method 1
The tethered vehicle includes at least four horizontal thruster, each positioned on a respective vertical frame member... with the four horizontal thrusters operable to provide lateral maneuvering to the tethered vehicle. Additionally, the tethered vehicle includes at least two vertical thruster integrated into the top surface and operable to provide vertical thrust to the tethered vehicle.
Implementation Method 2
The tethered vehicle further includes a plurality of onboard sensors attached to the open-structure frame and operable to provide positional information of the tethered vehicle in reference to a nearby autonomous underwater vehicle.
Data Source
AI summary
An autonomous tethered vehicle for recovering autonomous underwater vehicles (AUVs) is provided. The autonomous tethered vehicle includes an open-structure frame with vertical and horizontal frame members and a top surface attached to a top portion of the open-structure frame. The autonomous tethered vehicle further includes at least four horizontal thrusters operable to provide lateral maneuvering and at least two vertical thrusters operable to provide vertical thrust. Additionally, the autonomous tethered vehicle includes a plurality of onboard sensors operable to provide positional information of the autonomous tethered vehicle in reference to a nearby AUV, and an electronics housing unit having a control system operable to collect data from the plurality of the onboard sensors and make real-time operational decisions based on the collected data.