Title :
Hydrodynamic manoeuvrability data of a flatfish type AUV
Author :
Aage, Christian ; Smitt, Leif Wagner
Author_Institution :
Dept. of Ocean Eng., Tech. Univ. Denmark, Lyngby, Denmark
Abstract :
Hydrodynamic manoeuvrability data of the flatfish type autonomous underwater vehicle (AUV) “MARIUS” are presented. “MARIUS” was developed under the EC MAST Programme as a vehicle for seabed inspection and environmental surveys in coastal waters. The AUV has an overall length of 4.5 m and is driven by two propellers and four thrusters. The data comprise added mass and inertia coefficients, damping, lift and drag coefficients of the vehicle and its control surfaces, as well as resistance and propulsion characteristics. The hydrodynamic data have been determined by full scale tests, using a towing tank equipped with a planar motion mechanism. A few free-sailing tests have been carried out as well. Application of the data and possible improvements of the shape of the vehicle are discussed
Keywords :
marine systems; mobile robots; oceanographic techniques; EC MAST Programme; MARIUS; autonomous underwater vehicle; coastal waters; control surfaces; damping; drag coefficient; environmental surveys; flatfish type AUV; free-sailing tests; hydrodynamic manoeuvrability data; inertia coefficients; lift; planar motion mechanism; propulsion characteristics; resistance; seabed inspection; towing tank; Hydrodynamics; Inspection; Marine vehicles; Mobile robots; Propellers; Remotely operated vehicles; Sea measurements; Surface resistance; Testing; Underwater vehicles;
Conference_Titel :
OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings
Conference_Location :
Brest
Print_ISBN :
0-7803-2056-5
DOI :
10.1109/OCEANS.1994.364236
