The University of Southampton
University of Southampton Institutional Repository

Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research

Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research
Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research
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 issions 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.
1479-8751
171-180
Philips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Steenson, L.V.
86073c5a-69e6-4764-91ae-d764a5cef06b
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Harris, C.A.
c94c099d-018d-41e7-a3ef-3b45bf36456b
Furlong, M.
332e9aef-8c6b-452f-8b85-712492767458
Philips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Steenson, L.V.
86073c5a-69e6-4764-91ae-d764a5cef06b
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Harris, C.A.
c94c099d-018d-41e7-a3ef-3b45bf36456b
Furlong, M.
332e9aef-8c6b-452f-8b85-712492767458

Philips, A.B., Steenson, L.V., Rogers, E, Turnock, S.R., Harris, C.A. and Furlong, M. (2013) Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research. Transactions of The Royal Institution of Naval Architects Part A: International Journal of Maritime Engineering, 155 (A4), 171-180.

Record type: Article

Abstract

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 issions 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.

Text
Delphin2.pdf - Author's Original
Download (843kB)

More information

Published date: October 2013
Organisations: Mechatronics, Ocean Technology and Engineering

Identifiers

Local EPrints ID: 202395
URI: http://eprints.soton.ac.uk/id/eprint/202395
ISSN: 1479-8751
PURE UUID: 3bd79889-ada5-4d3b-9a97-a53bce2aee61
ORCID for A.B. Philips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for S.R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400

Catalogue record

Date deposited: 07 Nov 2011 11:12
Last modified: 15 Mar 2024 03:21

Export record

Contributors

Author: A.B. Philips ORCID iD
Author: L.V. Steenson
Author: E Rogers ORCID iD
Author: S.R. Turnock ORCID iD
Author: C.A. Harris
Author: M. Furlong

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×