F-11 



UWNA^4ED 

 (UNIVERSITY OF NEW HAMPSHIRE) 



Operating Depth : it6ra (15O ft) 



Dimensions (LxWxH) : 1.5m x 1.5m x Im (5 ft x 5 ft x 3 ft) 



Weight (Dry) : 3Tlkg (820 lbs) 



Speed : 1.6 knots (3km/hr) (maximiom sustained in still water) 



Structure : Open framework structure consisting of 2.5cm (l in.) OD 



6062-T3 aluminum tubing with 0.6cm (0.25 in.) aluminum plating for 



corner brackets and mounting components and buoyancy structure. Buoyancy 



is obtained from two cylinders of urethane foam atop the vehicle which 



provide 5 •3kg (ll.T lbs) of positive buoyancy submerged. A transducer 



ring is located on the underside of the vehicle which supports a circular 



array of 12 transducers. 



Power : Eight, lead acid (automobile) batteries provide 7-5 KWH of 



power. A mission endurance of U to 5 hours is obtained under average 



conditions, six, 0.25ph, IT lb (8kg) thrust electric motor/screw propellers. 



Five degrees of motion control are possible (roll is not attainable). 



Command/Control : A sensor system (l2 separate sonar systems in a 



clock-like configuration on the transducer ring) provides vehicle control 



information to an onboard microcomputer system. This system, in turn, 



has the function of making control decisions and gives control commands 



to the vehicle's thrusters for execution. A software system (developed 



to evaluate the present vehicle system) contains four modes: system 



monitor (permits a system checkout prior to vehicle launch), control 



override routine (overrides all automatic functions via umbilical cable), 



automatic altitude mode (controls z-axis thrusters to automatically 



position the vehicle at a predetermined height off the sea floor), and 



automatic pipe-following mode (contains all subroutines used to maintain 



vehicle orientation over a pipeline). 



Instrumentation : The vehicle serves as a prototype testbed for pipeline 



inspection. Presently the emphasis is on vehicle control, inspection 



instrumentation will be addressed at a later date. 



Launch/Retrieval : Procedures to be developed. 



Status : Preliminary sea trials have been held, vehicle is still in 



development . 



Builder : Ocean Engineering Department 



University of New Hampshire 



Durham, N.H. 



