This paper proposes automation method for underwater manipulation task. AUV with manipulator launches small agents for a target searching and communicating with a support ship. Each agent is connected to the AUV with the smart cable which gives relative position from the AUV to the agent. For communication and power transmission from the ship to the AUV, docking module is described. The device has non-contact optical communication and magnetic induction functions. Using the proposed module, tether between the AUV and the ship can be detachable during mission time on demand.
Most of under water tasks, except data collection, require manipulation tasks. Repair or construction of man made structures, recovery of sunken objects, sampling are examples.Since underwater environment is risky and hazardous, ROVs(Remotely Operated Vehicles) with manipulators have been carried out the tasks, manually. Since they depend on operator's skill and require heavy deck support, the efficiency and the accuracy are declined.
Automation of the manipulation task using AUVs(Autonomous Underwater Vehicles) can improve both of them. The SAUVIM (Semi-Autonomous Underwater Vehicles for Intervention Mission; refer Fig.1 and table 1; Kim,2004) AUV is an example. Their excellent mobility and light deck support improve the accuracy and the reliability of the task as well as the efficiency.
However, Applying AUVs to the task has many problems which should be overcome to accomplish.
In order to sustain underwater manipulation tasks, AUVs (Autonomous Underwater Vehicles) scale up their size to gain enough mass and buoyancy for tasks and power up their thrusters. On the other hand, the task needs good maneuverability of vehicles for precise positioning and station-keeping during the task. The large size declined the maneuverability of them. Especially, searching of targets requires frequent movement of AUVs and small-size AUVs are desirable for swift searching.
