Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV
The Odyssey IV class AUV was designed to fill the evolving needs of research and industry for a deep rated (6000 meter) vehicle, which is capable of both efficient cruising and precise hovering. This AUV is powerful enough to reject currents typical in the open ocean environment and yet small enough...
| Main Authors: | , , , , , |
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| Format: | Technical Report |
| Language: | en_US |
| Published: |
Massachusetts Institute of Technology. Sea Grant College Program
2015
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| Online Access: | http://hdl.handle.net/1721.1/97006 |
| _version_ | 1811097807663136768 |
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| author | Eskesen, Justin Owens, Dylan Soroka, Michael Morash, Jim Hover, Franz S. Chryssostomidis, Chryssostomos |
| author_facet | Eskesen, Justin Owens, Dylan Soroka, Michael Morash, Jim Hover, Franz S. Chryssostomidis, Chryssostomos |
| author_sort | Eskesen, Justin |
| collection | MIT |
| description | The Odyssey IV class AUV was designed to fill the evolving needs of research and industry for a deep rated (6000 meter) vehicle, which is capable of both efficient cruising and precise hovering. This AUV is powerful enough to reject currents typical in the open ocean environment and yet small enough to be deployed from a small fishing boat. The thruster layout, two vectored side thrusters and two fixed cross-body thrusters, allow for 4-DOF control, which gives this vehicle precision and flexibility not possible in previous Odyssey class AUVs. An adaptable payload area allows the mounting of sensors, actuators, or other hardware suitable to a particular mission. The dynamic control layer of our behavior-based MOOS software was completely redesigned to take advantage of the capabilities of this vehicle. This is also the first platform to utilize new graphical controls and database-driven logging which increase operator efficiency and make the vehicle safer to operate. Odyssey IV's intended uses include survey and inspection of cold water corals, fisheries, archaeological sites, and subsea infrastructure. It will also serve as a research platform for computer vision-based servoing and acoustic supervisory control. This paper will document the design considerations and implementation of the Odyssey IV, as well as report on a series of field tests culminating in its first scientific deployment at Georges Bank, observing and mapping the invasive tunicate Didemnum. |
| first_indexed | 2024-09-23T17:05:16Z |
| format | Technical Report |
| id | mit-1721.1/97006 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T17:05:16Z |
| publishDate | 2015 |
| publisher | Massachusetts Institute of Technology. Sea Grant College Program |
| record_format | dspace |
| spelling | mit-1721.1/970062019-04-11T13:28:00Z Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV Eskesen, Justin Owens, Dylan Soroka, Michael Morash, Jim Hover, Franz S. Chryssostomidis, Chryssostomos The Odyssey IV class AUV was designed to fill the evolving needs of research and industry for a deep rated (6000 meter) vehicle, which is capable of both efficient cruising and precise hovering. This AUV is powerful enough to reject currents typical in the open ocean environment and yet small enough to be deployed from a small fishing boat. The thruster layout, two vectored side thrusters and two fixed cross-body thrusters, allow for 4-DOF control, which gives this vehicle precision and flexibility not possible in previous Odyssey class AUVs. An adaptable payload area allows the mounting of sensors, actuators, or other hardware suitable to a particular mission. The dynamic control layer of our behavior-based MOOS software was completely redesigned to take advantage of the capabilities of this vehicle. This is also the first platform to utilize new graphical controls and database-driven logging which increase operator efficiency and make the vehicle safer to operate. Odyssey IV's intended uses include survey and inspection of cold water corals, fisheries, archaeological sites, and subsea infrastructure. It will also serve as a research platform for computer vision-based servoing and acoustic supervisory control. This paper will document the design considerations and implementation of the Odyssey IV, as well as report on a series of field tests culminating in its first scientific deployment at Georges Bank, observing and mapping the invasive tunicate Didemnum. United States. National Oceanic and Atmospheric Administration (Grant NA16RG2255); United States. National Oceanic and Atmospheric Administration (Grant NA06AOR4170019) 2015-05-15T15:08:13Z 2015-05-15T15:08:13Z 2009 Technical Report http://hdl.handle.net/1721.1/97006 en_US MIT Sea Grant Technical Reports;MITSG 09-08 application/pdf Massachusetts Institute of Technology. Sea Grant College Program |
| spellingShingle | Eskesen, Justin Owens, Dylan Soroka, Michael Morash, Jim Hover, Franz S. Chryssostomidis, Chryssostomos Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV |
| title | Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV |
| title_full | Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV |
| title_fullStr | Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV |
| title_full_unstemmed | Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV |
| title_short | Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV |
| title_sort | design and performance of odyssey iv a deep ocean hover capable auv |
| url | http://hdl.handle.net/1721.1/97006 |
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