15 research outputs found
Development and testing of the propulsion system of MARTA AUV
This work deals with the design of the propulsion system of a modular AUV
(Autonomous Underwater Vehicle). The authors describe the design methodologies and the testing
devices used for the fast prototyping of MARTA (MARine Tool for Archaeology) AUV
actuation system, including drivers, motors and propellers. In particular, the authors
introduce the design criteria followed for the preliminary testing activities
and the methodologies adopted for fast testing and prototyping of the proposed solutions.
This is a quite important topic considering the high customization and the reliability required
by this
kind of applications
The thesaurus project, a long range auv for extended exploration, surveillance and monitoring of archaeological sites
Within the framework of the Thesaurus project (Italian acronym for “TecnicHe
per l’Esplorazione Sottomarina Archeologica mediante l’Utilizzo di Robot aUtonomi in Sciami”), the
authors have developed a low cost, multirole Autonomous Underwater Vehicle, briefly
called Tifone, whose design is the main topic of this paper. According to the
expected performances and specifications, the vehicle has to maintain a good autonomy and
efficiency, typical features of an AUV (Autonomous Underwater Vehicle), also maintaining
high manoeuvrability and hovering capabilities, which are instead more common on ROVs
(Remotely Operated Vehicles).Cooperative exploration and surveillance tasks involve the use of
swarms of vehicles; the control, the mutual localization and communications among
vehicles are fundamental tasks to be optimized. In particular, the optimization of costs with
respect to benefits plays a critical role, considering that within the Thesaurus project a first
fleet of three vehicles has to be developed. This work mainly deals with the different design
phases of the vehicle and with the results of preliminary simulations and tests performed in the
MDM laboratories, before the next lake (Roffia basin, between Pisa and Florence, Italy) and sea
testing activities (Elba Island, Italy) that will be performed in spring and summer
2013
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For abstract see published article