Design And Implementation Of A Compact AUV "Xuanwu-1" For Mobile Observatory Network

The ocean has always intrigued mankind. Presently, ocean inspection, monitoring and exploitation has been achieved with the development of ocean technology, such as satellite remote sensing technology, buoys, underwater robots and seafloor observatory network. The seafloor observatory network, a mature and all-weather fixed observatory platform, makes it possible to monitor ocean environment in long term and in real time, while its range of observation is limited by cable. A compact Autonomous Underwater Vehicle (AUV) "Xuanwu-1" was designed for mobile observatory, which can be charged by non-contract power supply and transfer data via data transfer system on docking station, setting up at the Zhejiang University seafloor observatory node. The combination of the two improves the underwater continuous operation time and data transmission efficiency of a typical AUV.This paper uncovers and introduces solutions for the design and implementation of "Xuanwu-1" under limited conditions. One major effort was the overall design of this AUV, including mechanical design and control system design. Through the use of mathematical modeling and simulation, "Xuanwu-1" performed several typical motions under ideal conditions. The implementation of this AUV was time-consuming and finally it was tested under lab conditions.As the first generation of "Xuanwu" series, this open-frame compact AUV is used for oceanographic surveys from close to the surface. In the near future, this AUV can dock with the integrated docking system and to be the complement of cabled seafloor observatory network. With time, the AUV will have to be modified in order to optimize its performance as the engineering technology progress.