Leng

Exploration AUV for long-distance-missions


Leng
AUV Leng above the surface of the basin of the Maritime Exploration Hall of the DFKI. (Photo: Bilal Wehbe, DFKI GmbH)

Technical Details

Size: Ø 0.22 m x approx. 3.5 m
Weight: 73 kg
Power supply: Lithium-Polymer-Battery with 1.75 kWh at 48 V (approx. 10 hours endurance)
Speed: Approx. 3 m/s (6 kn)
Actuation/ Engine:
1 Main thruster (pan-tiltable), 2 lateral thrusters, each 600W. 2 buoyancy engines (each 0.7l volume)
Sensors:
Evologics S2CR 48/78 USBL, Rowe 1.2MHz dual-head DVL, KVH 1750 3-Achs FOG/IMU, Paroscientific series 6000 pressure sensor, Micron DST obstacle-avoidance sonar, 2x Reson TC4013 hydrophone, ground-stereo camera system, ground camera, docking-camera (all cameras HD, uncompressed full-frame recording), 9x 3500 lm LED-flasher
Communication:
USBL (modem function), Ethernet (when tethered with either copper or fiber cable, WiFi at the surface)
Datenverarbeitung:
3-Schichtiges Datenverarbeitungskonzept: ARM-Basiertes System-Managementmodul, Intel-Atom-Rechner für Navigation und Intel i7-Rechner für Bildverarbeitung

Organisational Details

Sponsor:
Grant number: The EurEx project is funded by the German Ministry of Economics (BMWI), Grant No. 50 NA 1217).
Team: Team I - System Design
Team VIII - Knowledge-based long-term Autonomy
Application Field: Underwater Robotics
Space Robotics
Related Projects: EurEx-SiLaNa
EurEx-Safe Long-Term Navigation (09.2017- 12.2018)
CUSLAM
Localization and mapping in confined underwater environments (09.2009- 07.2012)
EurEx
Europa-Explorer (12.2012- 04.2016)
FlatFish
Autonomous underwater vehicle (11.2013- 06.2017)
Related Robots: Teredo IceShuttle
Through-Ice-Cap Transfer-Vehicle & Base Station
DAGON
Related Software: Rock
Robot Construction Kit
Federal Ministry of Economics and Technology
German Aerospace Center e.V.

System description

Project badge Europa-Explorer (Source: Marius Wirtz, DFKI GmbH)
The autonomous underwater vehicle (AUV) Leng was designed as long-distance exploration vehicle. Its shape was specifically designed to meet the requirements of the Europa-Explorer-Project: very small diameter (in order to fit into the ice drill) as well as a hydrodynamically optimized outer hull (in order to reduce energy consumption and enable long-range missions). The vehicle is equipped with a large number of different navigation sensors since localization quality and availability are of key importance – in the Europa-Explorer-scenario the vehicle has to return to its starting position (ice drill) even after having conducted long-distance missions.
Besides operating fully-autonomously, the AUV can be operated in hybrid-ROV-mode by connecting either a fiber or copper data cable.


Videos

LENG: Docking

Vollautonomes Docking mit dem AUV Leng an einem Mock-Up des Ice-Shuttles

Europa Explorer: LENG AUV durchläuft eine autonome Testmission

In this video, the Leng AUV undergoes an autonomous test mission in the saltwater basin of the DFKI Robotics Innovation Center. This mission is analogous to a potential mission in the ice-covered ocean of Jupiter's moon Europa. The vehicle undocks from the IceShuttle and then searches for gliders which act as acoustic navigation aids in a future mission. Following this, the AUV descends by modifying its buoyancy and gliding. Then, the vehicle searches the bottom for a black smoker. Finally, following an ascent (not shown), the vehicle docks again at the IceShuttle to transfer data. The robot-view images seen throughout the video is from data transferred at the end of the mission.

Feldtest AUV Leng - unter dem Eis

Photo gallery

CAD drawing of the AUV with descriptions (Source: Marc Hildebrandt, DFKI GmbH)
CAD drawing of the AUV with descriptions (Source: Marc Hildebrandt, DFKI GmbH)
First-time deployment of the integrated vehicle with external buoyancy devices (Source: DFKI GmbH)
First-time deployment of the integrated vehicle with external buoyancy devices (Source: DFKI GmbH)
The AUV Leng as an assembly of separate pressure housings and a hydrodynamic hull functioning as supporting structure (Photo: Philipp Kloss, DFKI GmbH)
The AUV Leng as an assembly of separate pressure housings and a hydrodynamic hull functioning as supporting structure (Photo: Philipp Kloss, DFKI GmbH)
Leng docking to the IceShuttle in the saltwater basin of the Maritime Exploration Hall of the DFKI. (Photo: Marius Wirtz, DFKI GmbH)
Leng docking to the IceShuttle in the saltwater basin of the Maritime Exploration Hall of the DFKI. (Photo: Marius Wirtz, DFKI GmbH)
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© DFKI GmbH
last updated 03.11.2017
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