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Details of Grant 

EPSRC Reference: GR/R35933/01
Title: An Autonomous Underwater Vehicle with Adaptive Tracking and Navigation Capabilities
Principal Investigator: Sutton, Professor R
Other Investigators:
Chudley, Professor J
Researcher Co-Investigators:
Dr R Allwood Dr S Tetlow
Project Partners:
DERA Halliburton J+S Ltd
QinetiQ South West Water Limited
Department: Mechanical & Marine Engineering
Organisation: University of Plymouth
Scheme: Standard Research (Pre-FEC)
Starts: 01 September 2001 Ends: 30 September 2004 Value (£): 218,336
EPSRC Research Topic Classifications:
Robotics & Autonomy
EPSRC Industrial Sector Classifications:
Manufacturing Water
Related Grants:
GR/R35940/01
Panel History:  
Summary on Grant Application Form
A deep mobile target (DMT) has been converted into a rudimentary AUV called Hammerhead. Its small size and modular construction make it an ideal platform to use as a low cost technology demonstrator. In this project, two teams will work to integrate navigation, control and vision systems into a single vehicle for a seabed inspection task. The navigation system will be based on a MSDF algorithm which will produce accurate navigation information continuously in real-time. During an actual surveying task this subsystem will be enhanced by data from a vision system in order that mission parameters can be changed based on changing mission and environmental conditions. Once the navigation data has been suitably processed ft will be fed to the guidance and control system for appropriate action.The Universities of Cranfield and Plymouth will initially work together to define the scope of work for the chosen vehicle. Work will then progress on navigation, guidance and control (NGC) at Plymouth and on the vision system at Cranfield. During the final year, a controlled merger is planned and final sea trials will demonstrate the feasibility of the integrated system.
Key Findings
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Potential use in non-academic contexts
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Impacts
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Summary
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Further Information:  
Organisation Website: http://www.plym.ac.uk