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Design of an AUV Research Platform for Demonstration of Novel Technologies
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.ORCID iD: 0000-0002-1090-9168
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.ORCID iD: 0000-0003-0317-7605
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.ORCID iD: 0000-0003-3337-1900
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2018 (English)In: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, Institute of Electrical and Electronics Engineers Inc. , 2018Conference paper, Published paper (Refereed)
Abstract [en]

Maribot LoLo is an autonomous underwater vehicle (AUV) developed at the KTH Centre for Naval Architecture as part of the Swedish Maritime Robotics Centre (SMaRC). The center's cross-disciplinary activities require an AUV research platform that can be used for data collection and to test and demonstrate novel technologies. The challenge herein is to create a well-performing and yet versatile vehicle. This paper introduces Maribot LoLo and presents the underlying design philosophy which focuses on versatility and endurance. A free-flooded hull offers modularity and modifiability while reliability and robustness are achieved through hardware redundancy and a hierarchical captain-scientist relationship in the embedded system. The vehicle is designed to be operated at moderate water depths and on long-range missions. This leads to challenges in the design of the variable buoyancy system (VBS) which also is presented. The achievable range of the AUV is evaluated with a simple hydrodynamics model based on frictional drag.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2018.
Keywords [en]
AUV, buoyancy system, design, long range, research, SMaRC, underwater robotics, versatility, Autonomous vehicles, Buoyancy, Naval architecture, Redundancy, Robotics, Autonomous underwater vehicles (AUV), Cross-disciplinary Activities, Hydrodynamics modeling, Reliability and robustness, Autonomous underwater vehicles
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262409DOI: 10.1109/AUV.2018.8729729ISI: 000492901600027Scopus ID: 2-s2.0-85068336727ISBN: 9781728102535 (print)OAI: oai:DiVA.org:kth-262409DiVA, id: diva2:1365397
Conference
2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, 6-9 November 2018, Porto, Portugal
Note

QC 20191024

Available from: 2019-10-24 Created: 2019-10-24 Last updated: 2020-01-08Bibliographically approved

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Deutsch, ClemensMoratelli, LazaroThuné, SebastianKuttenkeuler, Jacob

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