auvs in archaeology - mitweb.mit.edu/deeparch/www/events/2002conference/papers/... ·...
TRANSCRIPT
![Page 1: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/1.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
AUVs in Archaeology:The Current State-of-the-Art and a Vision for the Future
Justin ManleyMassachusetts Institute of Technology
Sea Grant College Program
![Page 2: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/2.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Introduction
• Summarize Current AUV Technology– Existing Survey Vehicles– Archaeological Uses
• Propose Future Developments– Precision Survey AUV– Inspection Class AUV
![Page 3: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/3.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Current AUV Technology
• Survey Class AUVs – Reliable “lawnmowers”
• Repeatable straight lines
– Potent sensor platforms• side-scan, SBP, camera, multi-beam
– High quality data• eliminate “fish” motions and improved tracking
– Cost effective• versus deep tows/ROVs/submersibles
– Commercial commodity• Rent or buy one today!
![Page 4: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/4.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Survey Class AUVs
• MIT’s Odyssey IId, Xanthos– 3000 m rated– 3-6 hrs endurance– Video system
• Over 500 dives– Giant Squid– Oceanography– Archaeology
Fixed Focus Camera
Battery Sphere
Camera Illumination
Propulsion Thruster
Control Sphere
Inner Structural Fairing HDPE Outer Fairing
Floatation
Tracking Pinger
Fin Actuator
![Page 5: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/5.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Survey Class AUVs
Odyssey III, Caribou
• Bluefin built
• Edgetech Sonar– SSS & SBP– Digital CHIRP
• Modular Design– Cameras– Magnetometer– and others
![Page 6: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/6.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Learning at Sea
MIT, Greece, 2001 Maridan-150, Baltic, 2000
Image Courtesy Maridan A/S
Image Courtesy Kongsberg Simrad
Hugin, Gulf of Mexico, 2001
![Page 7: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/7.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
~10km linear surveyEndurance sufficient to thoroughly survey a archaeological site
>diver depth (100m)< full ocean depthgoal ~1000m
Operate in deep water
Omni-directional, 3-D controllability, down to ~10cm/sec.
Hover and move at very low speeds
~1 cm precision (x,y,z) @ 1Hz update w/i 100m cubeMeasure pitch/roll < 0.1?Hold heading < 0.5?
Precision navigation
Design ParametersFunctional Requirements
AUV for ArchaeologyAs specified by Mindell/Bingham
![Page 8: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/8.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Future of AUVs
• Precision Survey Vehicle– Navigation ~ 1 m– Overlap lines for 100% coverage– Slow moving
• Inspection Class Vehicle– Navigation ~ 1 cm– Highly Maneuverable – Real-time supervisory control
![Page 9: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/9.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Odyssey III Precision Survey
Precision Survey Payload Module
Camera, Scanning Sonar &Lateral and Vertical Thrusters
![Page 10: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/10.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Odyssey XInspection Class
• Range of motion: equivalent to ROV
• Payload: camera & scanning sonar
• Endurance: 2+ hours• Navigation: ~ 1 cm• Control: supervisory
via acoustic modem
![Page 11: AUVs in Archaeology - MITweb.mit.edu/deeparch/www/events/2002conference/papers/... · 2003-05-01 · AUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future](https://reader033.vdocuments.mx/reader033/viewer/2022050408/5f853999aaf98c41d07aab3b/html5/thumbnails/11.jpg)
Justin E. ManleyAUVs in Archaeology: The Current State-of-the-Art and a Vision for the Future
Conclusions
• Search and survey– AUVs are mature and capable– Rent or buy one today!
• Precision survey AUV– 9-12 months & ~$250k away
• Inspection AUV– 18-24 months & ~$500k away