Monterey Bay Aquarium Research Institute
2004 projects
MBARI ocean observing system (MOOS)

AUV docking

Project Manager:Mark Sibenac
Lead Engineer: Tarun Podder

AUV homing and docking will be a major development effort in 2004. After algorithms are developed, the system will be tested at sea, using the R/V Zephyr. Terminal guidance algorithms and methods will be worked on as well. If time and resources allow, a test frame will be constructed to test terminal guidance strategies. By the end of the year, we will hold a concept review for the actual docking system that will run on the first installed cable network.

Also in 2004, we will work on reliability of the AUV. Software modifications will detect and isolate more faults, and further processing will reveal ways to overcome them. Long duration testing will take place in the MBARI test tank. Some long duration tests will be done at sea. The AUV-CTD project will be collaborating on this aspect by running 24-hour AUV missions between the M1 and M2 moorings. 

Last updated: Feb. 05, 2009