The EAVE-East autonomous unmanned untethered submersible test bed has evolved rapidly over the past few years as a very maneuverable vehicle having very precise navigation and control. This system was designed and fabricated by the Marine Systems Engineering Laboratory at the University of New Hampshire. The specific objectives of the project were as follows: 1. Design mechanical system to accommodate mechanical components of gas generator, nozzle and associated hardware. 2. Determine and compensate for impact of components on hydrodynamics of vehicle. 3. Design and implement method of station keeping for cleaning operation. 4. Design and integrate necessary electronics with vehicle system to control cleaner. 5. Design and implement software necessary to control cleaner and vehicle. 6. Design a series of tests to demonstrate: (a) The ability of the EAVE-East vehicle to carry this work package to a specific location on a structure; (b) Station keeping at that location; (c) Controlling the valving of the gas generator; (d) Returning safely to the launch boat; and (e) In addition to the above vehicle related tests, several static gas generator tests were planned to: (1) Determine the amount of time necessary for pressure buildup; (2) Determine the effective cleaning time; and (3) Determine the time necessary for pressures to subside to near zero. 7. Perform tests necessary to demonstrate cleaning of underwater structure by an autonomous robot.
Eave-East Cavitation Cleaner Feasibility Demonstration
1985
25 pages
Report
Keine Angabe
Englisch
Tema Archiv | 1984
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