2012 · 128 citations · 9 references
EngineeringMarine EngineeringOcean EngineeringAutonomous VehiclesPropulsionUnderwater RoboticsAutonomous Underwater VehiclesBuoyancy ControlUnderwater Vehicle DesignAutonomous Underwater Vehicle DesignBuoyancyBuoyancy CompensationComponent SelectionDeep Water DivingPropeller-driven VehiclesReynolds NumberVehicle Design
The paper introduces the Autosub Long Range Autonomous Underwater Vehicle developed at the National Oceanography Centre, Southampton. The vehicle is a propeller‑driven AUV rated for 6000 m depth and 6000 km range, achieved by slow‑speed propulsion, low hotel power through careful component selection, and a passive buoyancy compensation scheme to address low Reynolds number effects. Early field trials demonstrate its suitability for the upcoming FASTNEt science programme.
This paper introduces the Autosub Long Range Autonomous Underwater Vehicle being developed at the National Oceanography Centre, Southampton. This propeller driven vehicle is designed to have a 6000m depth rating and a 6000km range. This is achieved by reducing the propulsion power by travelling slowly and hotel power by careful component selection and husbanding of resources. The challenges associated with net buoyancy compensation and low Reynolds number phenomena are outlined, and a passive compensation scheme is described. Early field trials are discussed, and the AUV's role in the upcoming FASTNEt science programme is outlined.
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An architecture for sensor fusion in a mobile robot
Steven A. Shafer, Anthony Stentz, C. Thorpe · 1986 · 192 citations