Details for Final memorandum report on the sea tests and demonstration results for the CMRE docking station capability

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Name:Final memorandum report on the sea tests and demonstration results for the CMRE docking station capability
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Final memorandum report on the sea tests and demonstration results for the CMRE docking station capability. Grati, Alberto; Carta, Alessandro; Grandi, Vittorio. CMRE-MR-2017-011. December 2017.

The work reported in this document is part of PARC's work package 4 named "Hard problems in the Maritime Unmanned System Domain" and specifically focuses on the hardware, software and mechanical upgrade implemented on the AutoLARS launch and recovery system as well as on the eFolaga AUV, in order to comply with the PARC WP4 docking station final objectives that call for a fully automated homing and docking capability.
This report illustrates the mechanical, software and hardware upgrades aimed at extending the automation in order to cover the functionalities that were previously managed by the operator, namely:
a) Automatic switchover between a "port inspection mission" and a "homing & docking mission" as a consequence of a "low battery" event;
b) 3D guidance capability;
c) Automatic AUV alignment detection, locking, batteries contactless recharging activation, wireless data offload, undocking and return to normal mission,
and at improving system robustness, flexibility and interoperability.
Despite several mechanics, electrical, electronics and software issues occurred during the engineering tests, the above key objectives were successfully achieved.
This report, in particular, shows that the several tests conducted at sea, in conjunction and in collaboration with the CommsNet17 sea trial, have demonstrated that the modified AUV mission control software was able to provide the AUV with the capability to automatically switch from a networking mission to a docking mission in order to recharge and offload the collected data.

 
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