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The Underwater Docking And Transfer Of High Bandwidth Data Between An Unmanned Submersible And A Remote Underwater Platform.

An underwater docking and data transfer technique between an unmanned robotic submersible and a remote datagathering platform was developed and demonstrated. A docking mechanism was developed that progressively reduced the three dimensional positioning plus rotational aspects of the docking task to a simple one dimensional translation task. Docking was completed by the mating of an underwater fiberoptic connector. After docking was achieved, high bandwidth data was transferred from the remote site back to the vehicle launch platform. For demonstration purposes,realtime frequency modulated (FM) video was transferred through the channel and displayed at the vehicle launch platform. The channel was established using two fiber optic links; the docking link, between the remote platform and the vehicle; and the vehicle link, between the vehicle and the vehicle launch platform. The vehicle was guided to the remote platform by a vehicle based acoustic homing subsystem. The vehicle tracked the relative range and bearing of the remote platform by interrogating a transponder mounted on the remote platform. The vehicle's deployable grabber arm and hover capabilities assisted in the docking task.