The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000m depth

TLDR

Nereus is a novel operational underwater vehicle capable of surveying and sampling the entire ocean depth of 11,000 m, nearly twice the depth of any existing operational vehicle. The paper provides an overview of the Nereus vehicle and summarizes its performance during first sea trials in November 2007. Nereus operates in two modes: an untethered autonomous underwater vehicle for broad area survey using sonars and cameras, and a tethered remotely operated vehicle for close‑up imaging and sampling, and it incorporates ceramic pressure housings, flotation spheres, a manipulator, a fiber‑optic tether, lighting, power, propulsion, navigation, vehicle dynamics, control, and acoustic communications. The trials demonstrated successful operation to 11,000 m, validating the vehicle’s dual‑mode design and key subsystems.

Abstract

This paper reports an overview of the new Nereus hybrid underwater vehicle and summarizes the vehicle's performance during its first sea trials in November 2007. Nereus is a novel operational underwater vehicle designed to perform scientific survey and sampling to the full depth of the ocean of 11,000 meters - almost twice the depth of any present-day operational vehicle. Nereus operates in two different modes. For broad area survey, the vehicle can operate untethered as an autonomous underwater vehicle (AUV) capable of exploring and mapping the sea floor with sonars and cameras. For close up imaging and sampling, Nereus can be converted at sea to operate as a tethered remotely operated vehicle (ROV). This paper reports the overall vehicle design and design elements including ceramic pressure housings and flotation spheres; manipulator and sampling system; light fiber optic tether; lighting and imaging; power and propulsion; navigation; vehicle dynamics and control; and acoustic communications.