Volume/Mass-Constrained Autonomous Underwater Vehicle Platform
A comprehensive mini-UUV demonstrator with modular payload bay and simulated effects integration. Navigation stack fuses IMU, Doppler surrogate, and acoustic beacons achieving 1.2%/hr drift, 75-110 min endurance at 50-80W, with hot-swap payloads up to 0.8L/700g.
Real-Time UUV Simulations & Visualizations
Interactive multi-sensor fusion navigation with IMU, Doppler surrogate, and acoustic beacon integration showing real-time drift accumulation.
Sensor FusionPlan and visualize AUV missions with waypoint navigation, obstacle avoidance, and predicted battery consumption analysis.
Mission ControlReal-time power budget analysis with subsystem breakdown, endurance prediction, and energy optimization strategies.
Power AnalysisConfigure modular payload bay with mass/volume constraints, buoyancy calculations, and interface specifications.
Payload DesignFull physics simulation with hydrodynamic forces, thruster dynamics, and environmental effects in realistic underwater environments.
Physics SimulationInteractive ROS2 node visualization with topic monitoring, service calls, and real-time parameter tuning.
ROS2 IntegrationPID-based depth control with buoyancy compensation, pressure sensor fusion, and emergency surface protocols.
Control SystemsModel thruster response curves, dead zones, and allocation matrices for multi-thruster configurations.
PropulsionComprehensive failure modes and effects analysis with severity ratings, detection methods, and mitigation strategies.
Safety AnalysisSimulate underwater acoustic communication with multipath effects, Doppler shifts, and bandwidth limitations.
CommunicationsSonar-based obstacle detection and avoidance with sector scanning, range estimation, and collision prediction.
PerceptionHigh-fidelity 3D visualization with underwater rendering, particle effects, and real-time telemetry overlay.
VisualizationComprehensive Guides and References
Mini-UUV Platform Components & Performance
| Subsystem | Specification | Performance | Notes |
|---|---|---|---|
| Navigation (IMU) | 9-DOF MEMS IMU | 1.2%/hr drift | Fused with DVL surrogate |
| Doppler Surrogate | 4-beam acoustic | 0.2% velocity accuracy | Bottom-track < 50m |
| Acoustic Positioning | USBL transponder | < 2m accuracy @ 500m | Surface vessel reference |
| Propulsion | 4x brushless thrusters | 15N max thrust each | Vector configuration |
| Battery | Li-ion 48V 20Ah | 960 Wh capacity | Hot-swap capable |
| Payload Bay | 0.8L / 700g max | 12-pin interface | < 3 min swap time |
| Depth Rating | 100m operational | 150m tested | Titanium pressure vessel |
| Communication | Acoustic modem | 300-900 bps | 1km range typical |
Advanced UUV Design and Optimization
Calculate drag coefficients, added mass, and hydrodynamic derivatives for hull optimization.
Estimate mission endurance based on speed profile, payload power, and environmental conditions.
Calculate neutral buoyancy trim, center of gravity, and stability margins for payload configurations.
Interactive controller tuning with step response analysis, stability margins, and auto-tune algorithms.
Record and replay mission data with sensor logs, control signals, and state estimation outputs.
Export simulation data in ROS bag, CSV, MATLAB, and custom formats for post-processing.