AUV System Spec Sheet

Nessie VT configuration

Platform: Nessie VT
Manufacturer: Heriot-Watt University Ocean Systems Laboratory

Summary

Nessie VT is a hover-capable inspection AUV that can be used in multiple operation modes. Designed primarily to participate in the annual SAUC-E AUV competition and also for scientific experimentation and general sub-sea research, they are extremely useful tools.They constitute platforms for new autonoumous software systems and are used for missions requiring a hover-capable vehicle as well as standard survey missions.

It is made up of a cylindrical aluminium pressure hull surrounded by a Delrin R polymer frame that creates a skeleton. This skeleton acts as a mounting point for sensors and the aluminium outer skin. The outer skin not only creates a hydro-dynamic shell which protects the contained devices from impacts but also adds strength and rigidity to the overall design. The overall length of the vehicle is 1780mm and the main body has a diameter of 280mm.

The robotic platform is equipped with a series of state-ofthe-art sensors. These sensors include a Doppler Velocity Log (DVL), a forward and a downward looking sonar, four video cameras, a temperature sensor, a pressure sensor, acoustic modem, GPS, and a fibre optic gyro. These provide information on both vehicle state and information on the surrounding environment. The use of 6 high powered thrusters gives it five degrees of freedom (Forward, Lateral, Vertical, Yaw, Pitch).