|Weight in air||52||kg|
|Energy||1.4||kWh Li-Ion battery system|
|Max surge velocity:||3||knots|
|DoFs||Surge, heave, pitch and yaw|
|Power on:||Magnetic switch|
|Structure||Modular aluminium and acetal hull|
|Software||ROS over Linux Ubuntu|
|Communication||WiFi and Ethernet umbilical|
|Navigation||IMU, DVL, pressure sensor, GPS|
|Payload volume||8 liters (7 kg in air)|
|Payload interface||Ethernet, RS-232, regulated 12V and 24V|
It combines torpedo-shape performance with hovering capability. It is easy to deploy and to operate. The payload area can be customized by the end user and it uses an open software architecture, based on ROS, for mission programming. Its flexibility, easy operation and openness makes the SPARUS II AUV a multipurpose platform that can adapt to industrial, scientific and academic applications.
The estimated maxi-mum velocity in surge is between 3 and 4 knots. It has 3 thrusters (2 horizontal and 1 vertical) that allow the control of the surge, heave and yaw Degrees of Freedom (DoFs) when moving in hovering mode. In torpedo-based mode, the two fins behind the horizontal thrusters are used for controlling the pitch DOF and thus controlling the depth or altitude of the vehicle.
The fins can also be used to maintain a stable angular position in roll DOF. The robot is designed to be efficient when moving fast using the two horizontal thrusters and the two fins for controlling surge, pitch and yaw DOFs. The vertical thruster is not used in this mode, since the fins are able to control the depth of the vehi-cle more efficiently. Then, the robot can keep position or can move slowly using the vertical thruster for counteracting the buoyancy and floatation forces, thus acting as a normal hovering UUV.
Describes the main features of the SPARUS II AUV, and it's design.
This paper describes the experience of preparing and testing the SPARUS II AUV in different applications.