MASUV-1: A Miniature Underwater Vehicle With Multidirectional Thrust Vectoring for Safe Animal Interactions

MASUV-1: A Miniature Underwater Vehicle With Multidirectional Thrust Vectoring for Safe Animal Interactions

In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of m...

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Veröffentlicht in:IEEE/ASME transactions on mechatronics 2012-06, Vol.17 (3), p.563-571
Hauptverfasser: Kopman, V., Cavaliere, N., Porfiri, M.
Format: Artikel
Sprache:eng
Schlagworte:
Animals
Batteries
Joints
Maneuverability
Manipulators
Marine
Marine mammals
Miniature
Motors
Servomotors
Steering
Thrust-vectoring
underwater vehicle propulsion
Underwater vehicles
Vehicles
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container_title IEEE/ASME transactions on mechatronics
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creator Kopman, V.
Cavaliere, N.
Porfiri, M.
description In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of marine mammals, and thus, facilitates animal behavior research as well as coping with traditional engineering and scientific missions in marine mammal populated environments. The vehicle utilizes an ad hoc designed multidirectional thrust-vectoring system for steering, based on multiple servo motors and pushrods. Tests of the vehicle in a stillwater environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.
doi_str_mv 10.1109/TMECH.2011.2108307
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subjects Animals
Batteries
Joints
Maneuverability
Manipulators
Marine
Marine mammals
Miniature
Motors
Servomotors
Steering
Thrust-vectoring
underwater vehicle propulsion
Underwater vehicles
Vehicles
title MASUV-1: A Miniature Underwater Vehicle With Multidirectional Thrust Vectoring for Safe Animal Interactions
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