HR: 1340h
AN: OS43B-0562 [Abstracts]
TI: Development of the MBARI Mapping AUV
AU: * Kirkwood, W J
EM: kiwi@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Caress, D W
EM: caress@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Thomas, H
EM: hthomas@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Sibenac, M
AF: Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213
United States
AU: McEwen, R
EM: rob@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Shane, F
EM: shfa@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Henthorn, R
EM: henthorn@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Hamilton, A
EM: hamilton@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Thompson, D
EM: drthom@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AU: Salamy, K
EM: salamy@mbari.org
AF: Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039
United States
AB:
The Monterey Bay Aquarium Research Institute (MBARI) is developing an autonomous seafloor mapping capability for deep ocean
science applications. The MBARI Mapping AUV is a 0.53 m (21 in) diameter, 5.1 m (16.7 ft) long, Dorado-class vehicle designed
to carry four mapping sonars. The primary sensor will be a 200 kHz multibeam sonar producing swath bathymetry and sidescan.
In addition, the vehicle carries 100 kHz and 410 kHz chirp sidescan sonars, and a 2-16 kHz sweep chirp subbottom profiler.
Navigation and attitude data are obtained from an inertial navigation system (INS) incorporating a ring laser gyro and a 300
kHz Doppler velocity log (DVL). The vehicle also includes acoustic modem, ultra-short baseline navigation, and long-baseline
navigation systems. A single cylindrical pressure housing contains all of the mapping sonar electronics, and the main vehicle
control and acoustic communications electronics are housed in a separate glass sphere. The Mapping AUV is powered by three 2
kWhr Li-polymer batteries, providing an expected mission duration of 12 hours at a typical speed of 1.5 m/s. The assembled
package is rated to 6000 m depth, allowing MBARI to conduct high-resolution mapping of the deep-ocean seafloor. Initial
at-sea testing commenced in May 2004 using the subbottom profiler and 100 kHz sidescan. The sonar package will also be
mountable on ROV Ventana, allowing surveys at altitudes < 10 m at topographically challenging sites. The MBARI Seafloor
Mapping team is now working towards integration of the multibeam sonar and towards achieving regular operations during 2005.
DE: 4294 Instruments and techniques
DE: 3045 Seafloor morphology and bottom photography
DE: 3094 Instruments and techniques
SC: Ocean Sciences [OS]
MN: 2004 AGU Fall Meeting