Modular design method and module interface development for small reconfigurable underwater vehicle

To improve the capability of small underwater vehicle for different type of tasks, such as high speed cruise and low speed exploration, a modular design method is discussed and different module interface forms are compared to guide the development of small reconfigurable underwater vehicle. By analyzing the structure characters and function parameters of underwater vehicle, a practical module partition method is proposed and according to a certain requirement for survey task a typical module interface form of small modular underwater vehicle is developed, including the function module structure and mechanical and electrical interface. Some possible structures based on the basic modules are also described to validate the reconfigurable capability of the small underwater vehicle.