Integration of a hovering module with the Morpheus AUV: application to MCM missions

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.