TY - JOUR
T1 - MASUV-1
T2 - A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions
AU - Kopman, Vladislav
AU - Cavaliere, Nicholas
AU - Porfiri, Maurizio
N1 - Funding Information:
Manuscript received October 25, 2010; accepted December 29, 2010. Date of publication March 3, 2011; date of current version April 27, 2012. Recommended by Technical Editor O. Kaynak. This work was supported in part by the National Science Foundation under Grant CMMI-0745753, GK-12 Fellows Grant DGE-0337668, and a Graduate Research Fellowship to V. Kopman, in part by the National Aeronautics and Space Administration/New York Space Grant Consortium under Grant 48240-7887, and in part by the Wildlife Conservation Society, which made the development of the first prototype of the vehicle possible.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - Thrust-vectoring
KW - underwater vehicle propulsion
KW - underwater vehicles
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U2 - 10.1109/TMECH.2011.2108307
DO - 10.1109/TMECH.2011.2108307
M3 - Article
AN - SCOPUS:84860675961
SN - 1083-4435
VL - 17
SP - 563
EP - 571
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 3
M1 - 5723752
ER -