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SPARUS II AUV

 

The SPARUS Autonomous Underwater Vehicle (AUV) was conceived in the Underwater Robotics Research Centre (CIRS) of the University of Girona (Spain). The first version was designed in 2010 to participate in the European Student AUV competition, organized by CMRE in La Spezia (Italy). The robot won the competition and, since then, it has collaborated in several research projects. In 2013, a new version of the robot, SPARUS II AUV, was finished and is now being commercialized.

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The SPARUS Autonomous Underwater Vehicle (AUV) was conceived in the Underwater Robotics Research Centre (CIRS) of the University of Girona (Spain). The first version was designed in 2010 to participate in the European Student AUV competition, organized by CMRE in La Spezia (Italy). The robot won the competition and, since then, it has collaborated in several research projects. In 2013, a new version of the robot, SPARUS II AUV, was finished and is now being commercialized.

 

 

SPARUS II AUV is a lightweight hovering vehicle with mission-specific payload area and efficient hydrodynamics for long autonomy in shallow water (200 meters). It combines torpedo-shape performance with hovering capability. It is easy to deploy and to operate. The payload area can be customized by the end user and it uses an open software architecture, based on ROS, for mission programming. Its flexibility, easy operation and openness makes the SPARUS II AUV a multipurpose platform that can adapt to industrial, scientific and academic applications.

 

 

Key points:

★Torpedo-shape movement: efficient hydrodynamics and long autonomy

★Hovering: high maneuverability

★Lightweight: glider like size and weight

★Easy operation: by 2 people from any boat

★Mission specific payload: open hardware for equipment integration

★Software architecture based on ROS: open software available for download

★Low cost: contact for info

•Length: 1.6 m

•Hull diameter: 230 mm

•Max width: 460 mm

•Weight in air: 52 Kg

•Maximum depth: 200 meters (certified on a pressure chamber).

•Energy: 1.4 kWh Li-Ion battery controlled by BMS

•Power control: magnetic switch

•Endurance: 8-10 hours

•Max surge velocity: 4 knots

•Propulsion system: 3 thrusters (350W, magnetic coupling, direct drive brushless DC motors) and 2 fins for pitch DoF.

•DoFs: surge, heave, pitch and yaw

•Structure: modular aluminium and acetal hull

•Computer: PCIe/104, Intel Core i7 2.20GHz Dual Core, 4M Smart Cache, 4GB DDR3 DRAM, 250GB SSD, 8 USB, 10 RS232

•LAN: Ethernet switch with wireless access point

•Software: Linux Ubuntu and ROS

•Sensors: IMU (MEMS, 6º/hr in-run bias), digital pressure sensor (30 bar, 0,15%FS accuracy) and GPS

•DVL: prepared for RDI Explorer DVL.

•Antenna: Wifi, GPS and flasher light

•Payload area: 8 liters – 7 kg in air

•Payload interface: Ethernet, RS-232 / regulated 12V and 24V / Subconn connectors.

•Communications: WiFi, umbilical cable

•Deployment: central hook for crane, front hook for towing and back hook for trolley.

•Software for simulation using UWSim and ROS

•Software for basic AUV operation: navigation, guidance and control.