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Ship Hull Inspection by Hull-Relative Navigation and Control
Proceedings of OCEANS 2005 MTS/IEEE
MIT and Bluefin Robotics designed the Hovering Autonomous Underwater Vehicle with a focus on ship hull inspection missions for Anti-Terrorism and Force Protection. Our hull-relative navigation and control are primarily based on a Doppler Velocity Log that the vehicle keeps pointed normal to the hull by means of a tilt actuator. A Dual Frequency Identification Sonar (DIDSON) is used to inspect the hull. The sonar is mounted on a separate tilt actuator in order to control the grazing angledoi:10.1109/oceans.2005.1639844 fatcat:7v7trlqkwjc3zeormidoc5krs4