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SotonAUV: University of Southampton entry into the 2007 student autonomous underwater challenge - Europe

SotonAUV: University of Southampton entry into the 2007 student autonomous underwater challenge - Europe
SotonAUV: University of Southampton entry into the 2007 student autonomous underwater challenge - Europe
The University of Southampton’s entry into the Student Autonomous Underwater Challenge - Europe (SAUC-E) 2007 is a custom designed and built Autonomous Underwater Vehicle (AUV) named SotonAUV, it measures 1.31m long, 0.26m wide, 0.22m deep and weighs approximately 24kg in air. Originally developed for SAUC-E 2006, the vehicle has been significantly upgraded for the 2007 competition; the propulsion system has been replaced, resulting in a more efficient and highly reliable system, the pressure vessel has been redesigned to reduce weight and the vehicles software has been redeveloped to improve the autonomy of the vehicle. The design of the vessel focused on a faired hydrodynamic shape encasing an extruded aluminium frame supporting the vessels propulsion system and two central pressure vessels. The autonomous control system is undertaken through various custom built PCBs, off-the-shelf components and a central mini ITX computer running a specially developed autonomy program based in the MATLAB environment. Sensing is undertaken through the use of waterproof cameras, a compass, a pressure sensor, and a three axis gyroscope and accelerometer. Propulsion is achieved using a pair of side mounted horizontal rim driven thrusters to provide surge and yaw control in the horizontal plane and two vertical rim driven tunnel thrusters at the bow and stern of the vessel to provide control in heave and pitch.
Akhtman, Jos
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Furlong, Maaten
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Jantapremjit, Pakpong
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Palmer, Alistair
548c7a39-f7b0-4fb3-823e-8f5df8e10a3b
Phillips, A.B.
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Sharkh, Suleiman
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Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Veres, Sandor
909c60a0-56a3-4eb6-83e4-d52742ecd304
Akhtman, Jos
6f612df7-9c17-4351-8340-5171fd174330
Furlong, Maaten
332e9aef-8c6b-452f-8b85-712492767458
Jantapremjit, Pakpong
a77ee0fd-920d-4d2a-a474-61cba53c63b7
Palmer, Alistair
548c7a39-f7b0-4fb3-823e-8f5df8e10a3b
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Sharkh, Suleiman
c8445516-dafe-41c2-b7e8-c21e295e56b9
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Veres, Sandor
909c60a0-56a3-4eb6-83e4-d52742ecd304

Akhtman, Jos, Furlong, Maaten, Jantapremjit, Pakpong, Palmer, Alistair, Phillips, A.B., Sharkh, Suleiman, Turnock, Stephen and Veres, Sandor (2007) SotonAUV: University of Southampton entry into the 2007 student autonomous underwater challenge - Europe At The 9th Unmanned Underwater Vehicle Showcase (UUVS 2007). 26 - 27 Sep 2007. 10 pp.

Record type: Conference or Workshop Item (Paper)

Abstract

The University of Southampton’s entry into the Student Autonomous Underwater Challenge - Europe (SAUC-E) 2007 is a custom designed and built Autonomous Underwater Vehicle (AUV) named SotonAUV, it measures 1.31m long, 0.26m wide, 0.22m deep and weighs approximately 24kg in air. Originally developed for SAUC-E 2006, the vehicle has been significantly upgraded for the 2007 competition; the propulsion system has been replaced, resulting in a more efficient and highly reliable system, the pressure vessel has been redesigned to reduce weight and the vehicles software has been redeveloped to improve the autonomy of the vehicle. The design of the vessel focused on a faired hydrodynamic shape encasing an extruded aluminium frame supporting the vessels propulsion system and two central pressure vessels. The autonomous control system is undertaken through various custom built PCBs, off-the-shelf components and a central mini ITX computer running a specially developed autonomy program based in the MATLAB environment. Sensing is undertaken through the use of waterproof cameras, a compass, a pressure sensor, and a three axis gyroscope and accelerometer. Propulsion is achieved using a pair of side mounted horizontal rim driven thrusters to provide surge and yaw control in the horizontal plane and two vertical rim driven tunnel thrusters at the bow and stern of the vessel to provide control in heave and pitch.

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More information

Published date: 2007
Venue - Dates: The 9th Unmanned Underwater Vehicle Showcase (UUVS 2007), 2007-09-26 - 2007-09-27
Related URLs:

Identifiers

Local EPrints ID: 48742
URI: http://eprints.soton.ac.uk/id/eprint/48742
PURE UUID: 4f4482d2-2902-4e8e-86be-f2b589dacb14
ORCID for Stephen Turnock: ORCID iD orcid.org/0000-0001-6288-0400

Catalogue record

Date deposited: 11 Oct 2007
Last modified: 17 Jul 2017 14:58

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Contributors

Author: Jos Akhtman
Author: Maaten Furlong
Author: Pakpong Jantapremjit
Author: Alistair Palmer
Author: A.B. Phillips
Author: Suleiman Sharkh
Author: Stephen Turnock ORCID iD
Author: Sandor Veres

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