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An approach towards the design and development of a flexible 5dof AUV

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Title An approach towards the design and development of a flexible 5dof AUV
 
Creator Shome, S. N.
Nandy, S.
Das, S. K.
Pal, D.
Kumar, V.
 
Subject AUV
Navigation & control
Thrusters
Sensor
Modular
Ocean parameters
Hydroplanes
 
Description 565-572
Present study consists the overall
development aspects of an Autonomous Underwater Vehicle (AUV) such as
mechanical design, modelling, software architecture, controllers and navigation
in combination with the lake experiments conducted on the vehicle at a shallow
depth. AUV prototype in discussion is designated, AUV-150 and is designed to
operate at a depth of 150 meters. It is a cylindrical-shaped carrier with
streamlined fairing to reduce hydrodynamic drag. It is embedded with active
propulsion, navigation, and control systems. Propulsion system comprises
thrusters for generating motion in different directions to control surge, sway,
heave, pitch, and yaw. Two arrays of cross-fins have also been fixed
at the two ends to provide additional stability to the AUV against roll. A
lithium polymer battery powers the vehicle and a pressure hull contains its
electronics and energy system. Equipped with a camera, CTD and side scan sonar
as payload sensors the AUV-150 is perfectly designed for performing underwater
terrain mapping as well as oceanographic survey activities. The experimental
results obtained from the shallow depth operation are quite satisfactory from
the operational point of view.
 
Date 2013-12-13T12:19:49Z
2013-12-13T12:19:49Z
2013-09
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/24785
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher CSIR
 
Source IJMS Vol.42(5) [September 2013]