Introduction and Concept Design of the AUVTECH OPENROV s Hybrid AUV


Avcı A. G. , Aryan A. J. , Avcı A., Söyük K., Toptaş B.

AUVSI & ONR’s RoboSub Competition Journal Paper, cilt.17, 2014 (Diğer Kurumların Hakemli Dergileri)

  • Cilt numarası: 17
  • Basım Tarihi: 2014
  • Dergi Adı: AUVSI & ONR’s RoboSub Competition Journal Paper

Özet

AUVTECH Vehicle is an Autonomous Underwater Vehicle (AUV) developed by a team of students at Istanbul Technical University. The vehicle is designed for the aim of completing unique underwater missions which involves the observation of aquatic life, undersea terrain shifts and geological transformations by its autonomy. The autonomy is provided by embedded intelligent system that can

autonomously navigate beneath the surface of water based on inputs from image processing and digital signal processing. Therefore, it is able to fulfill predetermined task without any human control and to react against unexpected situation by its artificial intelligence. The embedded system receives input data from its precise sensors like Inertial Measurement Unit, hydrophones and pressure sensor for odometry and from two cameras for image processing. After the data is transformed into information, the system makes decision about actuation, maneuver, running tool and carries out the task by the support of the hardware. The electronic circuits which comprise the embedded system and the electronic equipment controlled by it are settled on easy moving polycarbonate board to allow for a fast response against hazard. The actuation is provided by thrusters. Pneumatic system is utilized for a special mission such as throwing torpedo, dropping marker or using any additional tool. The main hull is made of polycarbonate, which gives transparent scene. So it allows viewing the working component directly. Polycarbonate is used for the frame to combine the components together and to provide stability and hydrodynamics. This study includes the growing up process of AUVTECH vehicle