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Autonomous underwater vehicle challenge: design and construction of a medium-sized, AI-enabled low-cost prototype

Author

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  • Dimitrios Paraschos
  • Nikolaos K. Papadakis

Abstract

The design of an autonomous underwater vehicle (AUV) with physical dimensions of 1100 mm × 700 mm × 330 mm, and weight of 55 kg, is introduced herein. This paper describes the design, materials, hydrodynamics, and system architecture of an AUV prototype named Synoris, developed as a low-cost and medium-scale testbed platform. Synoris moves via six brushless motors, can reach up to 200 m depth, has an autonomy estimated around 6 hours and a modular design for multiple payload options. Stability control, autonomous movement, obstacle avoidance temperature/pressure sensing, and video/image capturing are simultaneously performed by exploiting a set of onboard computers that are described briefly in Section 4. The whole platform is built on top of the open source software called ROS (robotic operating system) that provides a flexible framework for writing robot software by providing services such as low-level device control, message parsing, data fusion, and system integration. Synoris is ideal for underwater applications and missions, involving machine learning and computer vision features. AUV development in general meets high-cost solutions due to the complexity and harshness of the operational environment. Even the most cost-effective solutions demand plentiful resources. This paper describes the entire process of development and how a relatively low-cost approach can provide a reliable AUV for many underwater applications, involving AI and machine-learning capabilities.

Suggested Citation

  • Dimitrios Paraschos & Nikolaos K. Papadakis, 2024. "Autonomous underwater vehicle challenge: design and construction of a medium-sized, AI-enabled low-cost prototype," The Journal of Defense Modeling and Simulation, , vol. 21(3), pages 269-281, July.
  • Handle: RePEc:sae:joudef:v:21:y:2024:i:3:p:269-281
    DOI: 10.1177/15485129211027236
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    References listed on IDEAS

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    1. Mario Paulo Brito & Gwyn Griffiths & Peter Challenor, 2010. "Risk Analysis for Autonomous Underwater Vehicle Operations in Extreme Environments," Risk Analysis, John Wiley & Sons, vol. 30(12), pages 1771-1788, December.
    2. Terry Caelli & Joyanto Mukerjee & Evan Sparks, 2019. "Analytics for awareness in maritime surveillance: from data to tactical insight," The Journal of Defense Modeling and Simulation, , vol. 16(2), pages 207-215, April.
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