AUV Cuttlefish
Dual-arm intervention AUV Cuttlefish
Contact person:
Technical Details
| Size: | Ø 2.8m x 2.0m x 0.8m |
| Weight: | 1200kg |
| Speed: | 4 kn |
| Actuation/ Engine: |
Thruster: 8 x Ring thruster, Wittenstein Cyber Motor GmbH, thrust 500N, diving depth 6000m
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| Whole System Diving Depth: |
Initial 300m, depending on the configuration
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| Maneuverability: |
6 DOF freely selectable orientation and travel attitude
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| Manipulation: |
two deep sea capable arms (pressure compensated):
4-DOF docking arm with ball head gripper
• Extended length 1,710mm
• Integrated WLAN antenna
• Tensile load: max. 1kN
6-DOF working arm
• Length extended without gripper: 1.680mm
• Payload: 7kg
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| Battery / Capacity: |
2x LiFePo 5 KWh 50V
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| USBL: |
Evologics S2CR 18/34
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| DVL: |
Rowe Technology SeaPilot 1200kHz
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| IMU: |
iXblue Phins C3 (fiber optic)
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| Pressure sensor:: |
Absolute sensor Keller PAA-33X 10bar
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| Obstacle avoidance: |
Tritech Micron DST CHIRP Sonar
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| Cameras: |
3 x Basler ACE 2040-25GC (1x front, 2x bottom stereo)
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| Lighting: |
2 x Bowtech LED-K-Series headlights
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| Onboard computers: |
Intel i7-8700 @ Kontron mITX-CFL-S (Navigation, AI, Evaluation), Supermicro X10SDV mITX (Storage, Backup), 3x Odroid XU4 (lowlevel behavior)
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Organisational Details |
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| Sponsor: | Federal Ministry of Education and Research |
| Grant number: | Funded by BMBF, grant no. O1lS17029A |
| Application Field: | Underwater Robotics |
| Related Projects: |
Mare-IT
Information Technology for Maritime Applications
(08.2018- 11.2021)
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System description
The Cuttlefish autonomous underwater vehicle (AUV) is designed as an intervention AUV that can be freely positioned in the water column. Due to the thruster arrangement and by being able to change the center of gravity and buoyancy during a dive, it is able to take arbitrary orientations during the manipulation of objects underwater with its two deep-sea manipulators attached to the ventral side and keep them stable. Initial application scenarios include contact inspection of foundation structures on wind turbines, hydrogen pipelines and other underwater equipment such as valves or pumps in offshore fields.
In addition to fully autonomous operation, it is possible to operate the vehicle in a hybrid mode using an optical fiber, where the power supply is integrated into the system but the vehicle can be remotely controlled or monitored for critical operations on underwater structures. For this purpose, the vehicle has a variety of optical and acoustic sensors for environmental awareness in addition to the manipulators.
In addition to fully autonomous operation, it is possible to operate the vehicle in a hybrid mode using an optical fiber, where the power supply is integrated into the system but the vehicle can be remotely controlled or monitored for critical operations on underwater structures. For this purpose, the vehicle has a variety of optical and acoustic sensors for environmental awareness in addition to the manipulators.
