The Compact Remotely Operated Underwater Vehicle with the Variable Restoring Moment

Abstract

This paper presents the development of the new small-sized high-maneuverable remotely operated vehicle. The main scope of the vehicle is survey of shipwrecks. The main feature of the vehicle is variable restoring moment achieved by the rotated ring with the ballast in the transverse plane of the vehicle. This feature augmented with low value of own restoring moment and the overactuated propulsion system consisting of four vehicle and four horizontal thrusters allows high range of maneuverability to be achieved. The vehicle is equipped with the built-in lithium-ion battery. This feature reduces tether weight and allows automatic emergency return functions of the vehicle to the coast station in the case of cable damage to be implemented. The design rationale of the vehicle and the systems integration diagram are presented in the article. The design rationale of the variable restoring moment mechanism is described. The software based on modern development of Institute of Marine Technology problem FEB RAS and Far Eastern Federal University are presented.