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AUV System Spec Sheet

Tuna-Sand configuration

Platform: Tuna-Sand
Developer: University of Tokyo Institute of Industrial Science
Manufacturer: University of Tokyo Institute of Industrial Science
Scientific User: University of Tokyo Institute of Industrial Science

Summary

AUV “Tuna-Sand”

Hovering type AUV “Tuna-Sand”  can dive until 1,500 m depth. The vehicle consist of two floaters made of syntactic foam, central hull for control circuits and electrical devices and bottom two hulls for lithium-ion batteries. Two 100 W
thrusters for vertical motion and four 220 W thrusters for horizontal motion control five degrees-of-freedom of
motion. Pitch and roll direction of the vehicle are static stability because of a long distance between center of
gravity and buoyancy.

The vehicle position is estimated with accuracy by mounted sensors such as inertial navigation system (INS) consisting of three-axis fiber optical gyro and acceleration sensor, doppler velocity log (DVL) for measuring ground speed and depth sensor. Lightsection method using a sheet laser and a forward camera measures the distance to forward obstacle for obstacle avoidance, and is also used for measuring threedimensional shape of the chimney. A still camera
locking downward take pictures of the seafloor using a single strobe. 

The method can observe natural benthic life on the seafloor, because the flash light of the strobe is less irritating to animals than the other lights. Imaging survey by the AUV Tuna-Sand with a still camera and a strobe is effective for resource investigation and biological research of benthic life. The vehicle has profiling sonar for terrain measurement as other observation device.

- See more at: http://auvac.org/platforms/view/262#sthash.pxITC1Ys.dpuf

AUV “Tuna-Sand”

Hovering type AUV “Tuna-Sand”  can dive until 1,500 m depth. The vehicle consist of two floaters made of syntactic foam, central hull for control circuits and electrical devices and bottom two hulls for lithium-ion batteries. Two 100 W
thrusters for vertical motion and four 220 W thrusters for horizontal motion control five degrees-of-freedom of
motion. Pitch and roll direction of the vehicle are static stability because of a long distance between center of
gravity and buoyancy.

The vehicle position is estimated with accuracy by mounted sensors such as inertial navigation system (INS) consisting of three-axis fiber optical gyro and acceleration sensor, doppler velocity log (DVL) for measuring ground speed and depth sensor. Lightsection method using a sheet laser and a forward camera measures the distance to forward obstacle for obstacle avoidance, and is also used for measuring threedimensional shape of the chimney. A still camera
locking downward take pictures of the seafloor using a single strobe. 

The method can observe natural benthic life on the seafloor, because the flash light of the strobe is less irritating to animals than the other lights. Imaging survey by the AUV Tuna-Sand with a still camera and a strobe is effective for resource investigation and biological research of benthic life. The vehicle has profiling sonar for terrain measurement as other observation device.

- See more at: http://auvac.org/platforms/view/262#sthash.pxITC1Ys.dpuf

AUV “Tuna-Sand”

Hovering type AUV “Tuna-Sand”  can dive until 1,500 m depth. The vehicle consist of two floaters made of syntactic foam, central hull for control circuits and electrical devices and bottom two hulls for lithium-ion batteries. Two 100 W
thrusters for vertical motion and four 220 W thrusters for horizontal motion control five degrees-of-freedom of
motion. Pitch and roll direction of the vehicle are static stability because of a long distance between center of
gravity and buoyancy.

The vehicle position is estimated with accuracy by mounted sensors such as inertial navigation system (INS) consisting of three-axis fiber optical gyro and acceleration sensor, doppler velocity log (DVL) for measuring ground speed and depth sensor. Lightsection method using a sheet laser and a forward camera measures the distance to forward obstacle for obstacle avoidance, and is also used for measuring threedimensional shape of the chimney. A still camera
locking downward take pictures of the seafloor using a single strobe. 

The method can observe natural benthic life on the seafloor, because the flash light of the strobe is less irritating to animals than the other lights. Imaging survey by the AUV Tuna-Sand with a still camera and a strobe is effective for resource investigation and biological research of benthic life. The vehicle has profiling sonar for terrain measurement as other observation device.

- See more at: http://auvac.org/platforms/view/262#sthash.pxITC1Ys.dpuf

Physical Specs

  • Platform: Tuna-Sand
  • Body Type: Open Space Frame
  • Size (LxWxH): 1.10m x 0.70m x 0.70m
  • Body Size (LxWxH): Information not available
  • Hull Material: ABS
  • Weight: 278.00kg
  • Maximum Depth: 1,500.00 m
  • Dynamic Buoyancy: No
  • Self-Righting: Yes
  • Obstacle Avoidance: Yes
  • Endurance (nominal load): 8 hours
  • Manufacturer Website: Link

Primary Missions

  • Marine Science Survey
  • Seabed Mapping
  • Photometric Survey

Propulsion System

  • Method: Biomemetric
  • DOF: 3
  • Hovering: Yes
  • Nominal Speed: 0.80
  • Maximum Forward Speed: 1.30

Power System

  • Total Capacity: 0 Wh

Launch and Recovery

  • Crane