MASUV-1: A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions

Vladislav Kopman, Nicholas Cavaliere, Maurizio Porfiri

Research output: Contribution to journalArticle

Abstract

In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of marine mammals, and thus, facilitates animal behavior research as well as coping with traditional engineering and scientific missions in marine mammal populated environments. The vehicle utilizes an ad hoc designed multidirectional thrust-vectoring system for steering, based on multiple servo motors and pushrods. Tests of the vehicle in a stillwater environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.

Original languageEnglish (US)
Article number5723752
Pages (from-to)563-571
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Volume17
Issue number3
DOIs
StatePublished - 2012

Fingerprint

Animals
Mammals
Maneuverability
Propulsion
Costs

Keywords

  • Thrust-vectoring
  • underwater vehicle propulsion
  • underwater vehicles

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

MASUV-1 : A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions. / Kopman, Vladislav; Cavaliere, Nicholas; Porfiri, Maurizio.

In: IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 3, 5723752, 2012, p. 563-571.

Research output: Contribution to journalArticle

@article{4952e4ed6f2a4aadad93f8578e42dca8,
title = "MASUV-1: A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions",
abstract = "In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of marine mammals, and thus, facilitates animal behavior research as well as coping with traditional engineering and scientific missions in marine mammal populated environments. The vehicle utilizes an ad hoc designed multidirectional thrust-vectoring system for steering, based on multiple servo motors and pushrods. Tests of the vehicle in a stillwater environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.",
keywords = "Thrust-vectoring, underwater vehicle propulsion, underwater vehicles",
author = "Vladislav Kopman and Nicholas Cavaliere and Maurizio Porfiri",
year = "2012",
doi = "10.1109/TMECH.2011.2108307",
language = "English (US)",
volume = "17",
pages = "563--571",
journal = "IEEE/ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",

}

TY - JOUR

T1 - MASUV-1

T2 - A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions

AU - Kopman, Vladislav

AU - Cavaliere, Nicholas

AU - Porfiri, Maurizio

PY - 2012

Y1 - 2012

N2 - In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of marine mammals, and thus, facilitates animal behavior research as well as coping with traditional engineering and scientific missions in marine mammal populated environments. The vehicle utilizes an ad hoc designed multidirectional thrust-vectoring system for steering, based on multiple servo motors and pushrods. Tests of the vehicle in a stillwater environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.

AB - In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle, miniature animal safe underwater vehicle (MASUV-1), utilizing an entirely enclosed propulsion and steering system. This allows for safely operating MASUV-1 in the vicinity of marine mammals, and thus, facilitates animal behavior research as well as coping with traditional engineering and scientific missions in marine mammal populated environments. The vehicle utilizes an ad hoc designed multidirectional thrust-vectoring system for steering, based on multiple servo motors and pushrods. Tests of the vehicle in a stillwater environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.

KW - Thrust-vectoring

KW - underwater vehicle propulsion

KW - underwater vehicles

UR - http://www.scopus.com/inward/record.url?scp=84860675961&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84860675961&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2011.2108307

DO - 10.1109/TMECH.2011.2108307

M3 - Article

AN - SCOPUS:84860675961

VL - 17

SP - 563

EP - 571

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

IS - 3

M1 - 5723752

ER -