MANO: An AUV for Engineering and Science Research Alison Proctor

18 Pages·2010·0.42 MB·English

by  Alan Beam

MMAANNOO:: AAnn AAUUVV ffoorr
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SScciieennccee RReesseeaarrcchh
AAlliissoonn PPrrooccttoorr
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Who We Are
Ocean Technology Lab (OTL)
• Previous OTL Projects:
– MACO Hybrid Autonomous
Underwater Vehicle.
– Undersea Window – High Definition
Camera Platform.
– Underwater Acoustic Ranging
System.
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Who We Are
Ocean Technology Lab (OTL)
• Current Projects:
– Ocean Technology Test Bed
(OTTB)
– MANO Autonomous Underwater
Vehicle
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MANO Project Overview
• Mission Statement
– To acquire a commercially available “off-the-shelf” AUV which can
be used by academia and industry to develop and test new AUV
products and develop new operational protocols which can expand the
use of AUVs for science, security, and industrial purposes.
• Source of Funding
– Western Economic Diversification Canada
• Matching Funds
– Canadian Foundation for Innovation
– British Columbia Knowledge Development Fund
– Ping Digital Signal Processing Ltd.
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MANO: Vehicle Description
• Torpedo style Autonomous Underwater Vehicle
– Free flooded hull
– Flexible payload configuration and software interface
Description Value (Imperial) Value (metric)
Vehicle Dimensions
Hull Diameter 12.75In 0.32m
Length 148.5In 3.77m
Displacement *
Weight in Air 450Lbs 204.12kg
Buoyancy 7.5Lbs 3.40kg
Maneuvering
Speed Range 0.5-5.0kts 0.25-2.5m/s
DVL range for bottom lock 656.17ft 200m
Operation Depth Rating 656.17ft 200m
Energy and Endurance
Capacity 4.5kWh
Endurance * 19.50hrs @3kts with full payload
* approximate - value depends on payload configuration
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MANO: Payload Package
• AML Oceanographic Micro CTD
(Conductivity, Temperature, and
Depth)
– Standard data required for
most science missions
– High speed sampling rates and
rapid response times give high
resolution data in high speed
conditions
• Xchange sensors - field swappable sensors
– Only need to send the sensor back for recalibration not the entire
instrument.
– Multiple sensors means no down time
– Ability to change the instrument range on the fly
• Custom MANO enclosure
– Allows the pressure housing to be mounted inside the vehicle with
only the sensor heads exposed to the flow.
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MANO: Payload Package
• Rockland Scientific MicroRider
– Turbulence sensor for profiling
ocean microstructure
– Equipped with:
• 2 microstructure turbulence
shear probes;
• 2 microstructure fast
thermistors;
• 1 High resolution pressure
sensor;
• 1 Three-axis, high-accuracy
accelerometers for
measurement instrument
attitude and vibration
• Effectively being used on gliders
already
• MANO will provide a platform for
examining methods of integrating
this instrument into AUVs
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MANO: Payload Package
• JFE Alec Electronics - Rinko Fast
Response Oxygen Sensor
– Optical DO sensor
– Response time <1 second
– Small package (15.7cm long x
5.4cm diameter)
– Other commercial oxygen
sensors have response times
of 15-30 seconds. Not
appropriate for sensing from
an AUV
•
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MANO: Payload Package
• Wet Labs ECO Puck
– Combo Fluorometer-Turbidity
Sensor
– Measures chlorophyll-a and
turbidity.
– Very small size (5.0 cm x 6.3
cm diameter)
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MANO: Payload Package
• Ping Digital Signal Processing
– Prototype Forward Looking
Imaging Sonar System. High
resolution imaging for:
• mapping,
• classification,
• object identification,
• obstacle avoidance
• and in-situ path planning
– Prototype Side Scan Sonar
System. High resolution side
scan imaging for:
• Bathymetric mapping,
• Cataloging and
classification,
• and, ultimately, synthetic
aperture sonar (SAS).
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