Objective This project is the initial step to endow the autonomous underwater vehicle MARIUS with decision making capabilities and intelligent-like behaviour. In the first phase of the project the vehicle will be upgraded to achieve increased hydrodynamic performance and to operate up to a depth of 600 meters. Moreover, the vehicle will be equipped with deflecting surfaces (elevator, rudders, ailerons) for increased maneuverability. The design of a multibeam forward looking sonar to achieve 3-D obstacle detection will be completed. This entails the modification of a commercially available real-time updating sonar to obtain 3-D representations based on multiple 2-D shooting. The second phase is a detailed study of a Mission Operations System that consists of an off-line Mission Preparation System (MPS) and a Mission Management System (MMS) for on-line mission performance assessment and reactive mission planning. Both systems will be validated in simulation. The MPS is organized around a dedicated computer interface that accepts the mission data (environmental conditions, number and locations of sites to be inspected, global terrain profile, tasks to be executed at each site, etc.), validates the mission inputs and proposes a mission plan that is transferred to the on-board resident MMS. The role of the MMS is to coordinate the different modules that make up the vehicle, assess their status and the overall mission performance, and react to unforeseen events and replan the mission whenever necessary. Some of the MMS responses will be part of a list of contingency plans, while others will be the result of an on-line decision making process (for example, upon detection of an obstacle by the Obstacle Detection System, a pre-planned trajectory must be modified so that the vehicle may avoid the collision and return to the original mission promptly). The design and development of the Mission Preparation and Mission Management Systems will build on realistic mission scenarios that will be defined in cooperation with marine laboratories and geological institutes in Europe. For each mission scenario, the performance required will be translated into a set of measurable quantities that include, among others, the mission duration, radius of action, cruising speed, navigational accuracy, communication data rates, magnitude of sea currents that the AUV must withstand and contingency plans in the face of detected anomalies. Programme(s) FP3-MAST 2 - Specific research and technological development programme (EEC) in the field of marine science and technology, 1990-1994 Topic(s) 0302 - Underwater acoustics Call for proposal Data not available Funding Scheme CSC - Cost-sharing contracts Coordinator INSTITUTO SUPERIOR TECNICO EU contribution No data Address Avenida Rovisco Pais 1, Torre Norte 7 1096 LISBOA Portugal See on map Total cost No data Participants (5) Sort alphabetically Sort by EU Contribution Expand all Collapse all COWI CONSULTING ENGINEERS AND PLANNERS AS Denmark EU contribution No data Address 15,Parallelvej 15 2800 LYNGBY See on map Total cost No data Laboratoire International de Biologie Marine France EU contribution No data Address 85350 Ile-d'Yeu See on map Total cost No data ORCA INSTRUMENTATION S.A.R.L. France EU contribution No data Address Rue Pierre Rivoallon 5 29200 BREST See on map Total cost No data RESON A/S Denmark EU contribution No data Address 13,Fabriksvangen 13 3550 SLANGERUP See on map Total cost No data Thomson Marconi Sonar SAS France EU contribution No data Address 525,Route des Dolines 06903 Sophia Antipolis See on map Total cost No data
