Abstract: The Advanced Marine Systems Lab at FAU has developed a new ultra modular plastic mini AUV for coastal applications including very shallow water MCM. This vehicle is composed of modular injection molded plastic pressure vessels and a cabling system that allows the modules to be rearranged without rewiring bulkheads. The plastic pressure vessels are inexpensive, inherently mass producible, extremely corrosion resistant, and have low magnetic signature. The pressure vessels are small but are sized to fit most standard electronic board standards such as PC104, 3U VME, Compact PCI, STD 32, and even full size PCI. The mini AUV can be anywhere from 4 ft. to 10 ft. in length depending on its mission. A unique feature is the support for hovering capability with optional cross body thruster sections. The vehicle architecture is an adaptation of the Ocean Explorer AUV system and use a LonTalk distributed control network for connecting all sensor and actuator subsystems as smart nodes. The modularity is contained, control, and power makes this vehicle rapidly reconfigurable and easy to repair or upgrade. The small size of this AUV minimize top side support requirements. But because the Mini pressure vessels are still big enough to house most electronics systems almost all the sensor payloads designed for the larger Ocean Explorer AUV can be repacked to fit the Mini. Planned configurations include a rapid environmental assessment and mine reconnaissance package with side scan sonar, video, acoustic modem, Doppler velocity log, altimeter, Doppler current profiler, and CTD. A networkable acoustic modem system has also been developed at FAU and will enable multiple vehicle communications for coordinated multiple vehicle search and survey operations or for remote diver control. 3 AUVs are undergoing development and testing. This paper will present details of the design and construction of the new Mini AUV as well as explores applications to VSM MCM. !4
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机译：摘要：FAU的高级海洋系统实验室已经开发出一种新型超模块化塑料微型AUV，用于沿海应用，包括非常浅的MCM。该车辆由模块化注模塑料压力容器和电缆系统组成，该电缆系统无需重新连接舱壁即可重新布置模块。塑料压力容器价格低廉，固有地可批量生产，极耐腐蚀，并且磁信号低。压力容器虽小，但尺寸适合大多数标准电子板标准，例如PC104、3U VME，Compact PCI，STD 32甚至是全尺寸PCI。小型AUV的长度可以根据其任务从4英尺到10英尺不等。独有的功能是通过可选的斜体推进器部分支持悬停功能。车辆架构是对Ocean Explorer AUV系统的改编，并使用LonTalk分布式控制网络将所有传感器和执行器子系统连接为智能节点。模块化，控制性和动力性使其可以快速重新配置，并且易于维修或升级。这种AUV的体积小，可最大限度地减少对顶部支撑的要求。但是，由于Mini压力容器仍然足够大，可以容纳大多数电子系统，因此可以重新包装为较大的Ocean Explorer AUV设计的所有传感器有效载荷，以适合Mini。计划的配置包括带有侧面扫描声纳，视频，声学调制解调器，多普勒速度测井仪，高度计，多普勒电流剖面仪和CTD的快速环境评估和矿山勘测软件包。 FAU还开发了一种可联网的声学调制解调器系统，该系统将实现多车通信，以协调多辆车的搜索和勘测操作或进行远程潜水员控制。 3个AUV正在开发和测试中。本文将介绍新型Mini AUV的设计和构造细节，并探讨在VSM MCM中的应用。 ！4
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