Decoupled modelling and controller design for the hybrid autonomous underwater vehicle: MACO
Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle (AUV) named MACO capable of 3-D station keeping and manoeuvring without forward velocity. This makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles. Once operational, MACO was used in a Defence Research and Development Canada (DRDC) feasibility study for using AUVs to support rapid deployment of acoustic element arrays. The AUV was required to stop and hover, while triggering a low frequency sound source. The performance of MACO during these sea trials is presented as the conclusion to this paper.
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Document Type: Research Article
Publication date: 2007-02-01
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- Underwater Technology is the peer-reviewed international journal of the Society for Underwater Technology. The objectives of the journal are to inform and acquaint the Society's members and other readers with current views and new developments in the broad areas of underwater technology, ocean science and offshore engineering.
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