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MIT Sea Grant AUV lab Navigation End

 

AUV Lab Vehicles
 Odyssey IV Class

The Odyssey IV Class AUV is the result of a growing need for more capable, more maneuverable, more accessible AUVs. Odyssey IV is based on the MIT AUV Lab team's years of design and field experience. The smooth, faired shape is derived from the streamlined body of the successful Odyssey II class AUV, allowing energy-efficient high speed transits and quick missions to great depth. The vehicle's conservative size and weight make it deployable from small, less expensive boats, while still leaving room for a substantial payload. The AUV is passively stable at high speed, while the combination of two fixed cross-body thrusters and two rotating thrusters provides 4 DOF control for precise hovering capability. Payloads planned for this vehicle include: high resolution stereographic digital camera, Benthos C3D multibeam sonar, sample return devices, mass spectrometer, manipulator and buoyancy drive. More...

 Reef Explorer: A Hovering AUV

The Reef Explorer is a lightweight, inexpensive hybrid AUV/ROV, tethered to a small surface device that allows for constant communication between the vehicle and its operators. The Reef Explorer, which can be driven remotely via the internet, is particularly well suited to shallow water missions. With a substantial payload volume in spite of its light construction, it is exceptionally easy to deploy and maneuver. In 2007 the vehicle, equipped with a color camera and a wireless radio link, was deployed in Kaneohe Bay, Oahu, Hawaii to stream data back to classrooms on shore, allowing students to explore reefs virtually and send simple commands to the vehicle. The Reef Explorer came back to MIT for modification and returned to Hawaii in May 2008 for a second expedition. More...

 Reef Explorer II: A ROV/AUV Hybrid

Reef Explorer II (REX II) is an underwater vehicle that provides live video and sensor data to a remote operator. It incorporates the mobility of traditional AUV designs with the live control and feedback of ROVs. An automatically managed tether connects the vehicle to a small surface float with radio communication and GPS. This design, inherited from the preceding "Reef Explorer", creates a fast data connection between the vehicle and operator, and gives accurate navigation information. The operator can be near the vehicle, or connect over the Internet. In spring of 2009, Rex II was sent to Oahu, Hawaii for ocean field tests. It captured many hours of video and images over several missions conducted at reefs, sandbars, harbors, and deep channels. Many different forms of sea life, such as fish, turtles, invertebrates, plants, and corals were recorded. More...

 NEREUS/Odyssey II: A Self-Contained Underwater Mass-Spectrometer System

NEREUS (novel, efficient, rapid evaluation of underwater spectra) is a self-contained underwater mass-spectrometer system capable of continuous measurements of gases and vapors dissolved in the water column. Rapid in-situ measurement minimizes or eliminates artifacts that are often a problem when collecting and storing samples for analysis of volatile constituents, and provides higher spatial and temporal resolution of chemical patterns than is possible with conventional techniques. NEREUS has been integrated with an MIT Sea Grant Odyssey class submersible to create the Nereus/Odyssey II. The vehicle, in turn, has been integrated into an underwater data network (the NEREUS network) to obtain real-time chemical data. Underwater mass spectrometers such as NEREUS have wide application to many practical problems, such as pollution monitoring and energy production, as well as to fundamental Earth systems research. NEREUS, developed in the lab of Leonhard Professor of Civil and Environmental Engineering, Harold Hemond, has been supported in part by MIT Sea Grant and developed in cooperation with the MIT Sea Grant AUV Lab. More...

 Katrina Boat: A Diesel Electric Profiling Autonomous Surface Craft

Katrina is "a diesel electric vertical profiling Autonomous Surface Craft" designed to take water quality measurements in lakes, rivers, and calm ocean environments. The boat can either run autonomously, executing mission scripts, or it can be remotely controlled by a human operator. On an ordinary mission the boat will go to a series of way points and take a vertical profile of water quality measurements using a sensor array on a winched cable. The navigation sensors currently outfitted on the boat are a GPS, compass, 6 axis inertial measurement system, depth sounder, and a paddle wheel speed sensor. A radar and video camera are available for obstacle avoidance. The Lab has tested Katrina in the Charles River where it handled well at speeds up to 10 knots, in rough water, and with winds gusting up to 30 knots. More...

 Early Vehicles from the MIT Sea Grant AUV Lab

Odyssey II, Odyssey I, and Sea Squirt. More...