MASUV-1: A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions

Vladislav Kopman, Nicholas Cavaliere, Maurizio Porfiri

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of marine mammals, and thus, facilitates animal behavior research as well as coping with traditional engineering and scientific missions in marine mammal populated environments. The vehicle utilizes an ad hoc designed multidirectional thrust-vectoring system for steering, based on multiple servo motors and pushrods. Tests of the vehicle in a stillwater environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.

Original languageEnglish (US)
Article number5723752
Pages (from-to)563-571
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Volume17
Issue number3
DOIs
StatePublished - 2012

Keywords

  • Thrust-vectoring
  • underwater vehicle propulsion
  • underwater vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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