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Vinsamlegast notið þetta auðkenni þegar þið vitnið til verksins eða tengið í það: http://hdl.handle.net/1946/10257


Launch and Recovery of Gavia AUV

Október 2011

Autonomous underwater vehicles (AUVs) make researching underneath the surface more efficient. Launching and recovering (L&R) the AUV is an important task of every mission and can become complex and time consuming. Current L&R method for inflatable boats requires manpower and can get very hard physically. The goal of this research project was to design, build and test a launch and recovery system (LARS) in inflatable boats that makes L&R easier and safer. Available L&R methods were studied to see what had been done before. New methods were designed and the most promising method was found with the help of Analytic Hierarchy Process (AHP). The final result was a crane that made it capable for only one man to L&R the AUV from the both sides of the inflatable boat. The required manpower has been reduced to turning the arm in the required positions, and turning the winch which lifts and lowers the AUV. The crane weights approximately 30 kg and costs only 54,883 ISK. It is easy to construct and assemble. Furthermore, it is easy to transport the crane. A prototype crane was fabricated and tested. The testing of the prototype was divided into two main parts. First of all the prototype was tested on solid ground to be able to easily intercept if needed. The second part was to test the prototype in water. The first water test was performed with a barrel to avoid possible economic loss. After completing the steps for the first water test successfully, the steps were repeated for an AUV. Some of the tests showed that the prototype needed some improvements. After each improvement the tests were repeated to make sure that the improvement worked.




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