DocumentCode
393110
Title
Integration of a hovering module with the Morpheus AUV: application to MCM missions
Author
Hobson, Brett ; Kemp, Mathieu ; Leonessa, Alexander
Author_Institution
Nekton Res. LLC, Durham, NC, USA
Volume
1
fYear
2002
fDate
29-31 Oct. 2002
Firstpage
207
Abstract
Nekton Research and Florida Atlantic University are currently (July ´02) integrating a hovering module with the Morpheus AUV. This module, which uses flexible oscillating fin thruster technology, provides Morpheus with the ability to stop, hold station and operate in heave and sway. Such capabilities will allow Morpheus to execute numerous delicate tasks such as mine classification. Herein, we discuss the foundations of this work and present results from initial sea trials.
Keywords
object detection; remotely operated vehicles; underwater vehicles; Morpheus; Morpheus AUV; flexible oscillating fin thruster; hovering module; shallow-water mine-hunting vehicles; Actuators; Communication system control; Hardware; Leak detection; Motion control; Sea surface; Servomotors; Software libraries; Testing; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '02 MTS/IEEE
Print_ISBN
0-7803-7534-3
Type
conf
DOI
10.1109/OCEANS.2002.1193273
Filename
1193273
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