Development and Testing of a Low Cost Educational Test-Bed Autonomous Underwater Vehicle for Shallow Water Observation

Delphin2: An Over Actuated Autonomous Underwater Vehicle for Manoeuvring Research

10.3940/rina.ijme.2013.a4.264 ◽

2013 ◽

Vol 155 (A4) ◽

Keyword(s):

Northern Ireland ◽

Autonomous Vehicles ◽

Autonomous Underwater Vehicle ◽

Mechanical Design ◽

Low Cost ◽

Underwater Vehicle ◽

Test Bed ◽

Training Environment ◽

Marine Robotics ◽

The University

Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicles first fully autonomous video survey missions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.

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DELPHIN2: AN OVER ACTUATED AUTONOMOUS UNDERWATER VEHICLE FOR MANOEUVRING RESEARCH

The International Journal of Maritime Engineering ◽

10.5750/ijme.v155ia4.907 ◽

2021 ◽

Vol 155 (A4) ◽

Author(s):

A. B. Phillips ◽

L Steenson ◽

E Rogers ◽

S. R. Turnock ◽

C Harris ◽

...

Keyword(s):

Northern Ireland ◽

Autonomous Vehicles ◽

Autonomous Underwater Vehicle ◽

Mechanical Design ◽

Low Cost ◽

Underwater Vehicle ◽

Test Bed ◽

Training Environment ◽

Marine Robotics ◽

The University

Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey missions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.

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Development of a low cost Autonomous Underwater Vehicle for Antarctic exploration

2011 IEEE Conference on Technologies for Practical Robot Applications ◽

10.1109/tepra.2011.5753485 ◽

2011 ◽

Cited By ~ 4

Author(s):

A. Cadena

Keyword(s):

Autonomous Underwater Vehicle ◽

Low Cost ◽

Underwater Vehicle

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Shallow water stationkeeping of an autonomous underwater vehicle: the experimental results of a disturbance compensation controller

OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158) ◽

10.1109/oceans.2000.881733 ◽

2002 ◽

Cited By ~ 10

Author(s):

J.S. Riedel

Keyword(s):

Shallow Water ◽

Autonomous Underwater Vehicle ◽

Underwater Vehicle ◽

Experimental Results ◽

Disturbance Compensation

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Side Scan Sonar Modeling for Maritime Robotic Operations

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.152-154.1195 ◽

2012 ◽

Vol 152-154 ◽

pp. 1195-1201

Author(s):

Kuan Meng Tan ◽

Tien Fu Lu ◽

Amir Anvar

Keyword(s):

Autonomous Underwater Vehicle ◽

Underwater Vehicle ◽

Simulation Framework ◽

Test Bed ◽

Side Scan Sonar ◽

Sensor Model ◽

Sonar Sensor ◽

Key Aspects ◽

The University ◽

Sensor Modeling

One of the key aspects in designing an Autonomous Underwater Vehicle (AUV) simulation framework is sensor modeling. This paper presents specifically the underwater sonar sensor modeling structure used in the proposed AUV simulation framework. This sensor model covers the mathematical aspects from the field of acoustics which mimics real world sensors. Simplified sonar signal models are widely used however rarely discussed in the literature. Based on this designed simulation framework, simple scenario using different sonar configuration is shown and discussed. This paper shows the formulation of a typical side-scan sonar with emphasis on the assumptions which leads to the simplification of the sonar model. The sonar sensor model is built based on a developed AUV test-bed which was done previously in the University of Adelaide.

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