AUV PAUL3000

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AWI‘s AUV project

Feb. 2021

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Introduction

• Team

• Sascha Lehmenhecker

• Autun Purser (Scientific Lead)

• Michael Busack (Tech. Lead)

• Jonas Hagemann

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• History

• Purchased in 2003 Bluefin Robotics Type Odysse III

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Introduction

• History

• 2003: Purchased

• Specs:

• Length: 3.2 – 4 m

• Weight: 150 kg

• Power: 2 kWh Li-Po

• Depth: 3000 m

• Instruments

• 2 x magnetic compass

• Forward-looking sonar

• DVL

• History

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• History

• 2003 - 2007

• Bad navigation

• Problem with sensors

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Introduction

• History

• 2008: Update

• INS

• Benthos-Modem

• History

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• History

• 2011: Re-Design

• Battery-Section

• Ice shift tracking

• Portable GPS tracker

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Introduction

• History

• 2012: Additional Equipment

• Orange fin

• Ice shift tracking

• Drone V1

• History

(9)

• History

• 2013: Additional Equipment

• Iridium

• Ice shift tracking

• Drone V2

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Introduction

• History

• 2015: Additional Equipment

• Drone V3

• History

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• History

• 2018

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Introduction

• History

• Today

• Specs:

• Length: 4.3 - 4.7m

• Weight: 400 – 600 kg

• Power: 7.5 kWh Li-Ion

• Depth: 3000 m

• Instruments

• INS

• DVL

• 2 x Iridium / GPS

• 2 x Strobe

• History

BF-21

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• Highly modular

• 2 different payloads

• Pelagic

• Benthic

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Payload

• Pelagic

• History Payload

• Pelagic

4,3

CTD

ADCP

Payload Control Computer

Nitrate Sensor

PAR Sensor

Chl. a

fluorometer (not visible)

CDOM fluorometer (not visible) Dissolved Oxygen Sensor

(not visible) Microstructure Probes

Microstructure Probes

Sample Collector

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• Pelagic

• Under ice

• Pelagic

Landing UAV

7 m

53 m

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Payload

• Pelagic

• Under ice

• History Payload

• Pelagic

Polarstern

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• Pelagic

• Under ice

• Pelagic

Foto: Jonas Hagemann

Foto: Sandra Tippenhauer

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Payload

• Pelagic

• Under ice

• History Payload

• Pelagic

9 km

10 m 53 m

400 m 400 m 200 m

1.3 m/s

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• Pelagic

• Under ice

• Pelagic

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Payload

• Pelagic

• Under ice

• Ocean fronts

• History Payload

• Pelagic

(21)

• Pelagic

• Under ice

• Ocean fronts

• Pelagic

5

3

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Payload

• Pelagic

• Under ice

• Ocean fronts

• History Payload

• Pelagic

7 6 5

8

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• Benthic

^{• Pelagic}^{• Benthic}

Payload Control Computer Camera

Fwd. Strobe Sonar Electronics Strobes

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Payload

• Benthic

• Sidescan sonar

• 600 / 1200 kHz

• Range 60 m / 30 m

• History Payload

• Pelagic

• Benthic

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• Benthic

• Sidescan sonar

• 1200 kHz

• Altitude 6 m

• 9 parallel transects

• Pelagic

• Benthic

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Payload

• Benthic

• Camera system

• Stills camera (7fps, 12,5MP)

• 2 Strobes (150.000 lumes)

• History Payload

• Pelagic

• Benthic

4.5 m

2.7 m

Image Area: 12.15 m2 || Pixel Resolution (mm/pixel): 1.1

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• Benthic

• Camera system

• Strobe section

• Pelagic

• Benthic

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Payload

• Benthic

• Camera system

• Altitude 5 m

• Speed 1.5 m

• History Payload

• Pelagic

• Benthic

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• Benthic

• Camera system

• Photomosaic

• Pelagic

• Benthic

(30)

Payload

• History Payload

• Pelagic

• Benthic

• Camera system

• Photomosaic

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• Pelagic

• Benthic Infrastructure

• Logistics

• 20” Container

• Transportation

• Controlroom

• Workshop

• Store

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Infrastructure

• History Payload

• Pelagic

• Logistics

• Trolley

• Vibration compensation

• Section separation

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• Pelagic

• Logistics

• Trailer

• A-Frame

• Tests in local lakes

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Infrastructure

• History Payload

• Pelagic

• Accessories

• Ballasting basin

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• Pelagic

• Accessories

• Pressure tank

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Infrastructure

• History Payload

• Pelagic

• Accessories

• Zodiac

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• Pelagic

• Benthic Infrastructure Operator Suite

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Operator Suite

• History Payload

• Pelagic

• Mission Planner

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• Pelagic

• Dashboard

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Operator Suite

• History Payload

• Pelagic

• Dashboard

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• Pelagic

• Pluto

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Development

• History Payload

• Pelagic

• Benthic Infrastructure Operator Suite Development

• Mechanical

• Sensor implementation

Acoustic Modem

Camera

(43)

• Pelagic

• Mechanical

• Additional section

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Development

• History Payload

• Pelagic

• Electrical

• Sensor implementation

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• Pelagic

• Electrical

• Electronic design

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Operation

• History Payload

• Pelagic

• Benthic Infrastructure Operator Suite Development Operation

• Communication

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• Pelagic

• Pre-Dive

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Operation

• History Payload

• Pelagic

• Launch

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• Pelagic

• Dive

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Operation

• History Payload

• Pelagic

• Recovery

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• Pelagic

• Post-Dive

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Operation

• History Payload

• Pelagic

• Processing

• Data correction

Water Depth: 1500 m Time to descend: 31 min

Error: 110 m

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• Pelagic

• Benthic Infrastructure Operator Suite Development Operation Q & A