Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research
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.
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.
|Subjects:||V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering|
|Divisions:||Faculty of Engineering and the Environment > Engineering Sciences > Electro-Mechanical Research Group
National Oceanography Centre (NERC) > Ocean Technology and Engineering
|Date Deposited:||07 Nov 2011 11:12|
|Last Modified:||10 Jun 2014 14:25|
|RDF:||RDF+N-Triples, RDF+N3, RDF+XML, Browse.|
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