A Single Vehicle Solution for Hull Inspection and Harbor Survey
2012
Austin, Thomas C | Purcell, Michael J
The Woods Hole Oceanographic Institution has developed, under ONR funding, a new UUV capability that provides the multi-use capabilities required to perform hull inspections and harbor surveys. Based on the proven, REMUS-100 core vehicle system, this vehicle has a new, modular tunnel thruster package, which includes four controlled through-hull thrusters. These individually controlled thrusters are integrated into the vehicle control system, allowing mission plans at any speed, including zero. The standard REMUS-100 thruster and fins remain present, and the vehicle control system automatically utilizes the systems as needed depending on the vehicle's speed through the water. At low speeds, the tunnel thrusters provide most of the control power, and at higher speeds the fins, which are more efficient, arc used. The Oceanographic Systems Lab (OSL) at the Woods Hole Oceanographic Institution (WHOI) proposes to enhance the capabilities of the recently developed Hull and Harbor REMUS-100 vehicle by adding new sensors, navigation capabilities, and a higher degree of autonomy for hull inspection and harbor survey missions.
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