Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions
Technical rept. Aug 98-Jul 99,
HAWAII UNIV AT MANOA HONOLULU DEPT OF MECHANICAL ENGINEERING
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The primary research objective of the SAUVIM project is to develop an autonomous underwater vehicle capable of intervention missions. Unlike fly-by or survey type AUVs, SAUVIM possesses a manipulator work package. and an advanced control and sensory systems for navigation, stationkeeping and manipulation. The vehicle also possesses state-of-the-art technology for composite pressure vessel development and genetic algorithm based adaptive and intelligent path-planning methodology. The vehicle will be flexible to a diverse field of applications due to the modularity of the hardware architecture. An independent mission sensor package can be modified to specific scientific. data-gathering or intervention tasks. The pioneering research and development in the intervention based underwater vehicle technology will address new potentials in the hazardous. unstructured underwater environment.
- Submarine Engineering