Title :
Tethys-class long range AUVs - extending the endurance of propeller-driven cruising AUVs from days to weeks
Author :
Hobson, Brett W. ; Bellingham, James G. ; Kieft, Brian ; McEwen, Rob ; Godin, Michael ; Zhang, Yanwu
Author_Institution :
Monterey Bay Aquarium Res. Inst. (MBARI), Moss Landing, CA, USA
Abstract :
Most existing propeller-driven, cruising AUVs operate with a support ship and have an endurance of about one day. However, many oceanographic processes evolve over days or weeks, requiring propeller-driven vehicles be attended by a ship for complete observation programs. The Monterey Bay Aquarium Research Institute (MBARI) developed the 105 kg propeller-driven Tethys AUV to conduct science missions over periods of weeks or even months without a ship [1]. Here we describe a three week deployment covering 1800 km at a speed of 1 m/s, supporting sensor power levels averaging 5 watts. Unlike buoyancy driven gliders, Tethys uses a propeller that allows level flight and a variable speed range of 0.5 - 1.2 m/s. The extended endurance enables operations in remote locations like under the ice, across ocean basins in addition to enabling continuous presence in smaller areas. Early success led to the construction of a second Tethys-class AUV with a third in planning. An AUV docking station that can be mated to a cabled observatory or standalone mooring is in development to further extend Tethys endurance.
Keywords :
autonomous underwater vehicles; propellers; sensors; AUV docking station; MBARI; Monterey Bay Aquarium Research Institute; Tethys-class long range AUV; autonomous underwater vehicles; cabled observatory; extend Tethys endurance; oceanographic processes; propeller-driven cruising AUV; propeller-driven vehicles; remote locations; science missions; sensor power levels; standalone mooring; support ship; Circuit faults; Elevators; Instruments; Payloads; Propellers; Vehicles; AUV; Cruising AUV; Long range; Propeller driven AUV; long endurance; persistence;
Conference_Titel :
Autonomous Underwater Vehicles (AUV), 2012 IEEE/OES
Conference_Location :
Southampton
Print_ISBN :
978-1-4577-2055-0
Electronic_ISBN :
1522-3167
DOI :
10.1109/AUV.2012.6380735