AUV docking system for sustainable science missions

In this paper, we present a technological development of an Autonomous Underwater Vehicle (AUV) docking system motivated by science requirements. Twenty-seven case studies were drafted after having elaborate discussions with twelve senior marine scientists from a wide range of oceanographic fields including Physical Oceanography, Ocean Chemistry, Midwater Ecology, Bio-logical Oceanography, Molecular Biology, Marine Micro-biology, Geology, Evolutionary Biology, and Benthic Ecology. These science cases spread over coastal ocean, deep-ocean, mid-ocean ridge, and polar regions. All of these science missions can be significantly benefited from new and improved sets of data and samples that will be collected by using a docked A UV. The case studies are organized to address the science issue, significance of the problem, required data and measurements to address the scientific importance, a non-docked method for acquiring data, and the benefit of using a docked AUV. More than twenty science instruments (in addition to navigational sensors) are identified and evaluated for these science missions. Science payloads for the A UV and the docking system are discussed in detail. Functional requirements for a general purpose docking system are identified and pros & cons of various docking subsystems are explained A Fuzzy Logic based solution approach for an autonomous docking system design and development is also proposed in this paper.