SPARUS II Docking Station

The docking system (SDS) for the non-holonomic AUV features a funnel-shaped design optimised for low visibility environments, relying on acoustic feedback for localisation. It also aligns with ocean currents to facilitate docking. The SDS comprises two main components: the tripod and the funnel.

Funnel
-The funnel houses various devices essential for docking and communication:
USBL transponder/modem for localisation and communication.
-Camera to record docking manoeuvres.
-WiFi antenna for high-bandwidth data transfer when docked.
-Latching device to secure the AUV’s position.
-Inductive charger for recharging.
-Optical modem for wireless data exchange.
-DVL to measure ocean currents.
The polyethylene funnel entrance absorbs collision energy during docking and guides the AUV passively, while an adjustable counterweight balances its rotation.

Tripod
The tripod, a robust stainless-steel tetrahedron, absorbs docking impacts and anchors the system. It includes a pressure vessel housing electronics, a Raspberry Pi running ROS, a microcontroller for motor control and power management, and batteries. The top layer supports the funnel’s rotation system, including a motor, actuator, gear system, and bearings. This design ensures efficiency and durability in underwater operations.

Publications
Joan Esteba, Patryk Cieslak, Narcis Palomeras, and Pere Ridao. “Docking of Non-holonomic AUVs in Presence of Ocean Currents: a Comparative Survey”. In: IEEEAccess 9 (2021), pages 86607–86631. doi: 10.1109/ACCESS.2021.3083883
Joan Esteba, Patryk Cieslak, Narcís Palomeras, and Pere Ridao. “Managed Surge Controller : A Docking Algorithm for a Non-Holonomic AUV ( Sparus II ) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station”. In: Sensors 23 (2023). doi: 10.3390/s23010241
Joan Esteba, Patryk Cieslak, Narcís Palomeras, and Pere Ridao. “Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV”. in: Journal of Field Robotics (2024). doi:/10.1002/rob.22310