2024/02/21 by Jacob Herbert, Herbert, Jacob, Artur Wolek +1 · 1 citation
Engineering · Environmental Science · #FOS: Computer and information sciences #Maritime Navigation and Safety #Robotics (cs.RO) #Underwater Vehicles and Communication Systems #Water Quality Monitoring Technologies
paper · pdf · doi:10.48550/arxiv.2402.13837
openalex publication_date 2024/02/21 · openalex created_date 2024/02/23 · openalex updated_date 2026/07/28
This paper describes the design of a miniature uncrewed underwater vehicle (MiniUUV) and related instrumentation for indoor experimentation. The MiniUUV was developed using 3D printed components and low-cost, off-the-shelf electronics. The vehicle uses a propeller differential propulsion drive and a peristaltic pump with a syringe for buoyancy control. A water tank with an overhead camera system was constructed to allow for convenient indoor data collection in a controlled environment. Several tests were conducted to demonstrate the capabilities of the MiniUUV and data collection system, including buoyancy pump actuation tests and straight line, circular, and zig-zag motion tests on the surface. During each planar motion test an AprilTag was attached to the MiniUUV and an overhead camera system obtained video recordings that were processed offline to estimate vehicle position, surge velocity, sway velocity, yaw angle, and yaw rate.