A two axis sensor positioning system to be mounted on the front of an AUV

The XAUV is an experimental autonomous underwater vehicle (AUV) intended to be used as a platform to test new cutting edge sensors and mapping algorithms associated with them, as well as control algorithms for the ultimate goal of inspecting naval ship hulls. Current ship hull inspection techniques require divers to inspect by hand. Often the waters are opaque beyond the level that would allow visual inspection to be sufficient, so a tactile inspection is required. This process is slow and dangerous to the inspectors. AUVs with appropriate sensors and algorithms offer the promise of an alternative technique. It is important that the AUV is capable of directing appropriate sensors in the desired directions prescribed by specific mapping algorithms. This could be accomplished by rigidly attaching the sensors to the body of the AUV. However, manipulating the sensors with respect to the AUV may offer substantial benefits. With two degrees of freedom within the positioning system, the rest of the XAUV will be constructed to be capable of both hovering and traveling at a peak speed of about 5 m/s while still scanning the target area. It will also open up possibilities in developing new algorithms that utilize scanning off of the normal of the target surface.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2007

Author dc:creator

• Neal, Devin Michael

Advisor dc:contributor.advisor

• John J. Leonard.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/40468

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/40468