Skip to main content
SpringerLink
Log in

Towards docking for small scale underwater robots

  • Published:
Autonomous Robots Aims and scope Submit manuscript

Abstract

This article presents a novel docking system developed for miniature underwater robots. Recent years have seen an increased diffusion of robots for ocean monitoring, exploration and maintenance of underwater infrastructures. The versatility of those vehicles is extremely affected and limited by energetic constraints and difficulties in updating their mission parameters. Submerged docking stations are a promising solution for providing energy sources and data exchange, thus extending autonomy and mission duration of underwater robots. Furthermore, the docking capability is a novel, but promising approach to enable modularity and reconfigurability in underwater robotics. The authors here propose a hybrid docking system composed of a magnetic alignment unit and a mechanical connection. The former passively aligns and guides the underwater vehicle facilitating a subsequent mechanical connection. The reliability of the system is both analytically investigated and experimentally validated. Finally, the mechanical design of the docking system of two miniature underwater robots is described in detail.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

References

  • Arvin, F., Samsudin, K., & Ramli, A. R. (2009). Swarm robots long term autonomy using moveable charger. In ICFCC 2009. International Conference on Future Computer and Communication, 2009, 3–5 April 2009 (pp. 127–130).

  • Assaf, T., Stefanini, C., & Dario, P. (2013). Autonomous underwater biorobots: A wireless system for power transfer. Robotics & Automation Magazine, 20(3), 26–32.

    Article  Google Scholar 

  • Batista, P., Silvestre, C., & Oliveira, P. (2012). A two-step control strategy for docking of autonomous underwater vehicles. In American Control Conference (ACC) 2012, 27–29 June 2012 (pp. 5395–5400).

  • Boyer, F., & Lebastard, V. (2012). Exploration of objects by an underwater robot with electric sense. Living machines. In T. J. Prescott, N. F. Lepora, A. Mura, & P. F. M. J. Verschur (Eds.), Biomimetic and biohybrid systems. Lecture notes in computer science. Berlin: Springer.

    Google Scholar 

  • Boyer, F., Gossiaux, P. B., Jawad, B., Lebastard, V., & Porez, M. (2012). Model for a sensor inspired by electric fish. IEEE Transactions on Robotics, 28(2), 492–505.

    Article  Google Scholar 

  • Boyer, F., Lebastard, V., Chevallereau, C., & Servagent, N. (2013). Underwater reflex navigation in confined environment based on electric sense. IEEE Transactions on Robotics, 29(4), 945–956.

    Article  Google Scholar 

  • Brighenti, A., Zugno, L., Mattiuzzo, F., & Sperandio, A. (2000). EURODOCKER a universal docking-downloading recharging system for AUVs: Conceptual design results. In OCEANS ’98 Conference Proceedings, 28 Sep–1 Oct 1998 (Vol. 3, pp. 1463–1467).

  • Cowen, S., Briest, S., & Dombrowski, J. (1997). Underwater docking of autonomous undersea vehicles using optical terminal guidance. In OCEANS ’97. MTS/IEEE Conference Proceedings, 6–9 Oct 1997 (Vol. 2, pp. 1143–1147).

  • Deltheil, C., Didier, L., Hospital, E., & Brutzman, D. P. (2000). Simulating an optical guidance system for the recovery of an unmanned underwater vehicle. IEEE Journal of Oceanic Engineering, 25(4), 568–574.

    Article  Google Scholar 

  • Dunbabin, M., Corke, P., Vasilescu, I., & Rus, D. (2009). Experiments with cooperative control of underwater robot. International Journal of Robotics Research, 28, 815–833.

    Article  Google Scholar 

  • Farrell, J. A., Pang, S., & Li, W. (2005). Chemical plume tracing via an autonomous underwater vehicle. IEEE Journal of Oceanic Engineering, 30(2), 428–442.

    Article  Google Scholar 

  • Feezor, M. D., Sorrell, F. Y., Blankinship, P. R., & Bellingham, J. G. (2001). Autonomous underwater vehicle homing/docking via electromagnetic guidance. IEEE Journal of Oceanic Engineering, 26(4), 515–521.

    Article  Google Scholar 

  • Gilpin, K., Knaian, A., & Rus, D. (2010). Robot pebbles: One centimeter modules for programmable matter through self-disassembly. In IEEE International Conference on Robotics and Automation (ICRA), 2010, 3–7 May 2010 (pp. 2485–2492).

  • Gilpin, K., Kotay, K., & Rus, D. (2007). Miche: Modular shape formation by self-dissasembly. In IEEE International Conference on Robotics and Automation, 2007, 10–14 April 2007 (pp. 2241–2247).

  • Hobson, B. W., McEwen, R. S., Erickson, J., Hoover, T., McBride, L., Shane, F., & Bellingham, J. G. (2007). The development and ocean testing of an AUV Docking Station for a 21” AUV. In OCEANS 2007, Sept 29–Oct 4 2007 (pp. 1–6).

  • Howe, B. M., & Chao, Yi. (2010). A smart sensor web for ocean observation: Fixed and mobile platforms, integrated acoustics, satellites and predictive modeling. IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, 3(4), 507–521.

    Article  Google Scholar 

  • Inzartsev, A. V., Matvienko, Y. V., Pavin, A. M., Vaulin, Y. V., & Scherbatyuk, A. P. (2005). Investigation of autonomous docking system elements for long term AUV. In OCEANS, 2005. Proceedings of MTS/IEEE (Vol. 1, pp. 388–393).

  • Jin-Yeongand, P., Bong-Huanand, J., Pan-Mookand, L., Fill-Youband, L., & Jun-ho, O. (2007). Experiment on underwater docking of an autonomous underwater vehicle ‘ISiMI’ using optical terminal guidance. In OCEANS 2007—Europe, 18–21 June 2007 (pp. 1–6).

  • Jorgensen, M. W., Ostergaard, E. H., & Lund, H. H. (2004). Modular ATRON: Modules for a self-reconfigurable robot. In IROS 2004 Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, 28 Sept–2 Oct 2004 (Vol. 2, pp. 2068–2073).

  • Kalantar, S., & Zimmer, U. R. (2004). Contour shaped formation control for autonomous underwater vehicles using canonical shape descriptors and deformable models. In OCEANS ’04. MTTS/IEEE TECHNO-OCEAN ’04, 9–12 Nov 2004 (Vol. 1, pp. 296–307).

  • Kawasaki, T., Noguchi, T., Fukasawa, T., Hayashi, S., Shibata, Y., Limori, T., Okaya, N., Fukui, K., & Kinoshita, M. (2004). Marine Bird, a new experimental AUV—Results of docking and electric power supply tests in sea trials. In OCEANS ’04. MTTS/IEEE TECHNO-OCEAN ’04, 9–12 Nov. 2004 (Vol. 3, pp. 1738–1744).

  • Khoshnevis, B., Kovac, R., Shen, W.-M., & Will, P. (2001). Reconnectable joints for self-reconfigurable robots. In Proceedings. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001 (Vol. 1, pp. 584–589).

  • King, P., Lewis, R., Mouland, D., & Walker, D. (2009). CATCHY an AUV ice dock. In OCEANS 2009, MTS/IEEE Biloxi-Marine Technology for Our Future: Global and Local Challenges, 26–29 Oct 2009 (pp. 1–6).

  • Kirby, B. T., Aksak, B., Campbell, J. D., Hoburg, J. F., Mowry, T. C., Pillai, P., & Goldstein, S. C. (2007). A modular robotic system using magnetic force effectors. In IROS 2007. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, Oct 29–Nov 2 2007 (pp. 2787–2793).

  • Kondo, H., Okayama, K., Choi, J.-K., Hotta, T., Kondo, M., Okazaki, T., Singh, H., Chao, Z., Nitadori, K., Igarashi, M., & Fukuchi, T. (2012). Passive acoustic and optical guidance for underwater vehicles. In OCEANS, 2012—Yeosu, May 2012 (pp. 1, 6, 21–24).

  • Kopman, V., Cavaliere, N., & Porfiri, M. (2012). Masuv-1: A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions. IEEE/ASME Transactions on Mechatronics, 17(3), 563–571.

    Article  Google Scholar 

  • Krupinski, S., Maurelli, F., Grenon, G., & Petillot, Y. (2008). Investigation of autonomous docking strategies for robotic operation on intervention panels. In OCEANS 2008, 15–18 Sept 2008 (pp. 1–10).

  • Liedke, J., & Wörn, H. (2011). CoBoLD—A bonding mechanism for modular self-reconfigurable mobile robots. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (Art. no. 6181589, pp. 2025–2030).

  • Maki, T., Shiroku, R. T., Sato, Y., Matsuda, T., Sakamaki, T., & Ura, T. (2013). Docking method for hovering type AUVs by acoustic and visual positioning. In Underwater Technology Symposium (UT), 2013 IEEE International, 5–8 March 2013 (pp. 1–6).

  • Manfredi, L., Assaf, T., Mintchev, S., Marrazza, S., Capantini, L., Orofino, S., et al. (2013). A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion. Biological Cybernetics, 107(5), 513–527.

    Article  Google Scholar 

  • Marchese, A. D., Asada, H., & Rus, D. (2012). Controlling the locomotion of a separated inner robot from an outer robot using electropermanent magnets. In IEEE International Conference on Robotics and Automation (ICRA), 2012 (pp. 3763–3770).

  • Maurelli, F., Petillot, Y., Mallios, A., Krupinski, S., Haraksim, R., & Sotiropoulos, P. (2009) Investigation of portability of space docking techniques for autonomous underwater docking. In OCEANS 2009—EUROPE, 11–14 May 2009 (pp. 1–9).

  • McGinnis, T., Henze, C. P., & Conroy, K. (2007). Inductive power system for autonomous underwater vehicles. In OCEANS 2007, Sept 29–Oct 4 2007 (pp. 1–5).

  • Mintchev, S., Donati, E., Marrazza, S., & Stefanini, C. (2014). Mechatronic design of a miniature underwater robot for swarm operations. In IEEE International Conference on Robotics and Automation (ICRA), 2014, 31 May–7 June 2014 (pp. 2938–2943).

  • Mintchev, S., Stefanini, C., Girin, A., Marrazza, S., Orofino, S., Lebastard, V., Manfredi, L., Dario, P., & Boyer, F. (2012). An underwater reconfigurable robot with bioinspired electric sense. In IEEE International Conference on Robotics and Automation (ICRA), 2012, 14–18 May 2012 (pp. 1149–1154).

  • Murata, S., Kurokawa, H., & Kokaji, S. (1994). Self-assembling machine. In IEEE International Conference on Robotics and Automation, 1994, 8–13 May 1994 (Vol. 1, pp. 441–448).

  • Osterloh, C., Pionteck, T., & Maehle, E. (2012). MONSUN II: A small and inexpensive AUV for underwater swarms. In Proceedings of ROBOTIK 2012; 7th German Conference on Robotics, 21–22 May 2012 (pp. 1–6).

  • Park, J., Jun, B., Lee, P., & Oh, J. (2009). Experiments on vision guided docking of an autonomous underwater vehicle using one camera. Ocean Engineering, 36(1), 48–61. ISSN 0029–8018.

  • Ridao, P., Batlle, J., & Carreras, M. J. (2003). Model identification of a low-speed UUV. In Proceedings of the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Glasgow, Scotland, UK, April 2003 (pp. 47–52).

  • Rochat, F., Schoeneich, P., Bonani, M., Magnenat, S., Hürzeler, C., Mondada, F., & Bleuler, H. (2010). Design of magnetic switchable device (MSD) and applications in climbing robot. In Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2010), Nagoya, Japan.

  • Rubenstein, M., Ahler, C., & Nagpal, R. (2012). Kilobot: A low cost scalable robot system for collective behaviors. In IEEE International Conference on Robotics and Automation (ICRA), 2012, 14–18 May 2012 (pp. 3293–3298).

  • Russo, S., Harada, K., Ranzani, T., Manfredi, L., Stefanini, C., Menciassi, A., et al. (2013). Design of a robotic module for autonomous exploration and multimode locomotion. IEEE/ASME Transactions on Mechatronics, 18(6), 1757–1766.

    Article  Google Scholar 

  • Rustand, I., & Asada, H. (2011). The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass. In IEEE International Conference on Robotics and Automation (ICRA), 2011, May 2011 (pp. 5855–5862).

  • Schmickl, T., Thenius, R., Moslinger, C., Timmis, J., Tyrrell, A., Read, M., Hilder, J., Halloy, J., Campo, A., Stefanini, C., Manfredi, L., Orofino, S., Kernbach, S., Dipper, T., & Sutantyo, D., (2011). Cocoro–The self-aware underwater swarm. In Fifth IEEE Conference on Self-Adaptive and Self-Organizing Systems Workshops (SASOW), 2011, Oct 2011 (pp. 120–126).

  • Servagent, N., Jawad, B., Bouvier, S., Boyer, F., Girin, A., Gomez, F., et al. (2013). Electrolocation sensors in conducting water bio-inspired by electric fish. IEEE Sensors Journal, 13(5), 1865–1882. Art. no. 6415238.

    Article  Google Scholar 

  • Shieh, K. T., Wilson, W., Winslow, M., McBride, D. W., & Hopkins, C. D. (1996). Short-range orientation in electric fish—An experimental study of passive electrolocation. Journal of Experimental Biology, 199, 2383–2393.

    Google Scholar 

  • Simetti, E., Turetta, A., Casalino, G., & Cresta, M. (2010). Towards the use of a team of USVs for civilian harbour protection: The problem of intercepting detected menaces. OCEANS 2010 IEEE—Sydney, 24–27 May 2010 (pp. 1–7).

  • Singh, H., Bellingham, J. G., Hover, F., Lemer, S., Moran, B. A., von der Heydt, K., et al. (2001). Docking for an autonomous ocean sampling network. IEEE Journal of Oceanic Engineering, 26(4), 498–514.

    Article  Google Scholar 

  • Sotiropoulos, P., Grosset, D., Giannopoulos, G., & Casadei, F. (2009). AUV docking system for existing underwater control panel. In OCEANS 2009—EUROPE, 11–14 May 2009 (pp. 1–5).

  • Stefanini, C., Orofino, S., Manfredi, L., Mintchev, S., Marrazza, S., Assaf, T., et al. (2012). A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers. Bioinspiration & Biomimetics, 7(2), 025001.

    Article  Google Scholar 

  • Suhand, J. W., Homansand, S. B., & Yim, M. (2002). Telecubes: Mechanical design of a module for self-reconfigurable robotics. In Proceedings. ICRA ’02. IEEE International Conference on Robotics and Automation, 2002 (Vol. 4, pp. 4095–4101).

  • Sutantyo, D., Buntoro, D., Levi, P., Mintchev, S., & Stefanini, C. (2013). Optical-guided autonomous docking method for underwater reconfigurable robot. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2013, 22–23 April 2013 (pp. 1–6).

  • Unsal, C., & Khosla, P. K. (2000). Mechatronic design of a modular self-reconfiguring robotic system. In Proceedings. ICRA ’00. IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1742–1747).

  • Vasilescu, I., Varshavskaya, P., Kotay, K., & Rus, D. (2005). Autonomous modular optical underwater robot (AMOUR) design, prototype and feasibility study. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, 18–22 April 2005 (pp. 1603–1609).

  • Vaussard, F., Rétornaz, P., Roelofsen, S., Bonani, M., Rey, F., & Mondada, F. (2013). Towards long-term collective experiments. Advances in Intelligent Systems and Computing, 194(2), 683–692.

    Article  Google Scholar 

  • von der Emde, G. (1999). Active electrolocation of objects in weakly electric fish. Journal of Experimental Biology, 202, 1205–1215.

    Google Scholar 

  • von der Emde, G., & Fretz, S. (2007). Distance, shape and more: recognition of object features during active electrolocation in a weakly electric fish. Journal of Experimental Biology, 210(17), 3082–3095.

    Article  Google Scholar 

  • von der Emde, G., Schwarz, S., & Gomez, L. (1998). Electric fish measure distance in the dark. Nature, 395, 890–894.

    Article  Google Scholar 

  • Watson, S., Crutchley, D., & Green, P. (2011). The design and technical challenges of a micro-autonomous underwater vehicle. In International Conference on Mechatronics and Automation (ICMA), 2011, Aug 2011 (pp. 567–572).

  • Yuh, J. (2000). Design and control of autonomous underwater robots: A survey. Journal Autonomous Robots, 8(1), 7–24.

    Article  Google Scholar 

Download references

Acknowledgments

The activity presented in this article was supported by the European Commission within the framework of the ANGELS Project (Project Reference 231845) and the CoCoRo Project (Project Reference 270382). The authors would like to thank Mr. Godfried Jansen van Vuuren for his technical support.

Author information

Authors and Affiliations

  1. The BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 , Pontedera, Pisa, Italy

    Stefano Mintchev, Raffaele Ranzani, Filippo Fabiani & Cesare Stefanini

Authors
  1. Stefano Mintchev
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Raffaele Ranzani
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Filippo Fabiani
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Cesare Stefanini
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Cesare Stefanini.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Mintchev, S., Ranzani, R., Fabiani, F. et al. Towards docking for small scale underwater robots. Auton Robot 38, 283–299 (2015). https://doi.org/10.1007/s10514-014-9410-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10514-014-9410-3

Keywords

Search

Navigation