The Modular Oceanic Autonomous Underwater Vehicle for Novel Actuation

A low-drag, high endurance, and high efficiency Long Range Autonomous Underwater Vehicle is a desired asset to Santa Clara University to aid future underwater vehicle development efforts. Such an vehicle will demonstrate novel actuation methods and provide the on-campus Robotics Systems Laboratory with a modular prototype to aid research and academic efforts. In this paper, we document the construction of a low cost, modular, demonstration vehicle that satisfies the requirements for high-efficiency operation and modular interfaces. The completed vehicle features standard actuation abilities utilizing low-drag methods that qualify it for shallow water operation. Furthermore, the vehicle demonstrates the feasibility of distributed command and control, featuring a linear bus to communicate between subsystems that can facilitate the easy implementation of additional subsystems. Overall, the vehicle satisfies the majority of it\u27s original requirements, and provides the university with a functional prototype that will support future research and academic efforts. Future work for the program involves honing in control methods, including pitch and depth control. These functions will bring the vehicle to it\u27s full operational capabilities, and further support research activities