Vertical Glider Robots for Subsea Equipment Delivery

Author(s)
Reed, Brooks L.; Ambler, Charles; Guerrero, Julio Cesar; Hover, Franz S.
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Abstract
We have developed an underwater vehicle that offers significant performance improvements over existing sub sea elevators. Our Vertical Glider Robot falls under its own weight to a precise location on the seafloor, employing streamlining, active steering, and basic navigation instrumentation. We examine typical at-sea mission requirements, mention several key governing parameters, and outline our design approach. We then describe a prototype device, and present results from model-scale experiments.
Date issued
2011
URI
http://hdl.handle.net/1721.1/78655
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering; Woods Hole Oceanographic Institution
Journal
Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Reed, Brooks L. et al. “Vertical glider robots for subsea equipment delivery.” Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA) 109.39 (2011): 2356-2361.
Version: Author's final manuscript
ISBN
978-1-61284-386-5
ISSN
1050-4729
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