Multidisciplinary Development of Autonomous Underwater Vehicle Fleet

Abstract

Verbatim from Embry-Riddle Scholarly Commons. Not paraphrased, not summarized.

Eco-Dolphin – Cooperative Fleet for Surveillance Mission SIAM, Society for Industrial & Applied Mathematics, members have been working for two years on the design, construction and testing of three highly integrated and streamlined autonomous underwater vehicles called Eco-Dolphins. This project is being developed at Embry-Riddle Aeronautical University’s Daytona Beach campus. The Leverage lab is used to create detailed mathematical models and conduct preliminary research for both electrical and mechanical systems. The campus Composites lab is used for the fabrication of structural and aesthetic components used by the high adaptable platform. The Autonomous Underwater Vehicle testing is conducted in the Universities Nonlinear Waves lab. The first phase of design, production and assembly of the yellow Eco-Dolphin prototype has been done in twelve months. The design includes an internal attitude control system, combined with internal propulsion from brushless direct current thrusters, thus allowing the vehicle to ascend and descend. The Eco-Dolphins promise is to be a unique, highly optimized and a competitive underwater vehicle fleet. The team has also successfully completed the second phase of the program, which involved tracking the Eco-Dolphins while submerged underwater. Work has been conducted to add a GPS system for surface tracking. Converting the acoustic system from tethered to wireless to make the ground station more robust. The Eco-Dolphin is configured with recently developed control system software that utilizes a relay combination of Wireless, Sonar and GPS radio wave communication. The current progress on the blue Eco-dolphin will be completed by the summer of 2014, for testing in littoral waters of central Florida. Through the addition of three sequential (yellow, blue, red) vehicles, therefore allows for better position and orientation data to be sent to the teams buoy network. The three vehicles, three buoy communication structure, multiply the data points collected for surveillance and underwater mapping purposes. This additional complexity improves the reliability and increases the application of the product through error elimination software. The team gives hands on research experience to SIAM members through applied mathematics. The outcome of the research goals, results in the application of many fields of study beyond mathematics. When combined the fleet can cooperatively fulfill multitask missions, advanced surveillance and environmental monitoring can be conducted. This opportunity opens the way for better balance between sustainable developments of the coastline.

Authors

• Jaworski, J. Embry-Riddle Aeronautical University
• Pastrana, F. Embry-Riddle Aeronautical University
• Daud, Z. Embry-Riddle Aeronautical University
• Leong, K. Embry-Riddle Aeronautical University
• Renkai, W. Embry-Riddle Aeronautical University