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Open Access Autosub6000: its first deepwater trials and science missions

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In September 2007 on RRS Discovery, the Autosub6000 autonomous underwater vehicle (AUV) completed its first deepwater engineering trials and, fitted with a multibeam bathymetric mapping sonar, carried out its first science missions less than a year later as part of a geology and geophysics science cruise onboard the RRS James Cook. This paper describes how the issues of energy storage, navigation and buoyancy control were tackled that specifically affect a deep-diving AUV, capable of operating with true autonomy independently of the mother ship.
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Keywords: AUTONOMOUS UNDERWATER VEHICLE (AUV); DEEP-DIVING; LITHIUM POLYMER BATTERY; NAVIGATION; ULTRA SHORT BASELINE (USBL); UNDERWATER ROBOTICS

Document Type: Research Article

Publication date: July 1, 2009

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