RAO II — Remote Autonomous Underwater Robot II

Development of an autonomous underwater robot for inspection and maintenance of underwater installations such as power cables, oil and gas pipelines, sewers, etc. This work addresses the development of an Underwater Autonomous Vehicle (AUV) taking as a basis the hull of a SeaLion Remotely Operated Vehicle (ROV) together with its propulsion system. The new vehicle incorporates a battery-based power subsystem, a re-designed low-power LED-based illumination subsystem, and new computing resources based on PC-104 Pentium boards. Sensors such as a Tritech Imaging Sonar, an RDI Doppler Velocity Logger (DVL) and a Firewire camera constitute part of its sensorial equipment.

S. Wirth. Visual Underwater Cable/Pipeline Tracking. Universität Koblenz-Landau, Campus Koblenz, Fachbereich 4 Informatik, Institut für Computervisualistik, 2007.