Technical Note Title: Preparing a Wave Adaptive Modular Vessel for Automation
J R Keane, J T Duffy, M Haase, S A T Randeni P, H R Hubbert, R L Kent, Australian Maritime College,University of Tasmania, Australia
A L Forrest, Civil & Envronmental Engineering, University of California - Davis and Australian Maritime College,University of Tasmania, Australia
K Sammut, A Lammas, J Wheare, Flinders University, Australia
D Battle, Defence Science and Technology Group, Australia
The Australian Maritime College Autonomous Technology (AMCAT) Society at the University of Tasmania, in conjunction with Flinders University, undertook automation of a Wave Adaptive Modular Vessel (WAM-V) for the inaugural International Maritime Robot-X competition in Singapore, October 2014. Automation of the WAM-V required development of a propulsion system and engine modules, as well as hydrodynamic testing of the vessel and the development of a control system to enable autonomous operations. Custom aluminium engine hulls were designed and built by the team to house the propulsion system. The customised vessel was then tested to derive the hydrodynamic coefficients required for the autonomous control system. This paper details the work undertaken in preparing the WAM-V for automation, and how hydrodynamic test results were incorporated into the automation process by a team of naval architects and robotics engineers. This work will accelerate future cross-institutional efforts for automation of surface vehicles such as the WAM-V.
Transactions RINA, Vol 158, Part B2, International Journal of Small Craft Technology, Jul-Dec 2016
DOI No: 10.3940/rina.ijsct.2016.b2.190tn
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