Expression of interest for Transfer of Autonomous Underwater Vehicle Technology, NIO, Goa CONTENTS No Title Page 1 Technology 2 2 Figures and Photos 3 3 Specifications 3 4 Publications and articles related to this AUV 4 5 Data obtained from the AUV 5 6 Eligibility criteria for the firm 7
Transfer of Autonomous Underwater Vehicle Technology [1] Technology: National Institute of Oceanography (N.I.O), Goa, has developed a small autonomous underwater vehicle (AUV) Maya as a tool for scientific and commercial applications. The development was funded by N.I.O. and the Department of Information Technology, New Delhi. Envisioned missions of the AUV include oceanographic studies, marine biology studies, water quality studies in fresh water reservoirs/dams and environmental monitoring of coastal waters & estuaries, to name a few. The vehicle is made up of three parts. The first part is the free flooding nose cone of the vehicle which houses the scientific sensors. This nose cone is swappable and is application specific. The second part is the sealed aluminum hull which we call the Core Pressure Unit. The core pressure unit houses the batteries, electronics, vehicle sensors, actuators, communication systems and the electronics. The third part is called the tail cone and is used to house the propulsion device which is a brushless dc motor thruster. (see exploded view and photograph) The vehicle is rated for 200m depth operations and is capable of diving to different programmed depths and maintaining control of motion at those depths. It can follow mission paths that are pre-programmed. Safety features enable the vehicle to return to the surface in case of hardware failure. The missions for the vehicle are loaded through an RF link with the aid of a GUI on the shore. 2
[2] Exploded view of AUV CPU Rate GYRO Shaft seal Rear electronics bin assembly Nose cone with Scientific sensors GPS, RF antenna Main hull Electronics & Battery packs DVL unit Fin Rudder View of AUV in water 3 Thruster motor
[3] Specifications of the AUV: Vehicle Parameter Total Length Diameter Total weight in air Depth range Hull material Nose and Rear Cones Nominal speed Endurance Propulsion Power source RF Communications Scientific Payloads Value 1.742 m 0.234 m ~54 kgs 200 m Aluminium alloy GFRP/ Acetal 1.5 m/s ~ 7.2 hrs (propulsion) DC brushless motor Lithium Polymer cells 2.4 GHz, 115kbaud Conductivity, Temperature, Depth, Dissolved Oxygen, Chlorophyll [4] Publications and articles related to this AUV: 1. Elgar Desa, R. Madhan, P. Maurya, Potential of AUVs with sensor payloads as new generation ocean data platforms, Current Science, May 2006 2. E.S. Desa, P. Maurya, R. Madhan, G. Navelkar, E. Desa., Environmental monitoring of the coastal zone by robot platforms., International Workshop on Underwater Robotics - sustainable management of marine ecosystems and environmental monitoring- IUWR 2005, November 9-11, Genoa, Italy. 3. R. Madhan, Elgar Desa, S. Prabhudesai,, L. Sebastiao, Antonio Pascoal, Ehrlich Desa, A. Mascarenhas, Pramod Maurya, G. Navelkar, S. Afzulpurkar and S. Khalap, Mechanical design and development aspects of a small AUV MAYA, 7 TH IFAC conference in MCMC, 20-22 Sept 2006, Lisbon 4
4. Maurya, P.; Desa, E.; Pascoal, A.; Barros, E.; Navelkar, G.S.; Madhan, R.; Mascarenhas, A.A.M.Q.; Prabhudesai, S.; Afzulpurkar, S.; Gouveia, Ashwin; Naroji, S.; Sebastiao, Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results, 7 TH IFAC conference in MCMC, 20-22 Sept 2006, Lisbon. 5. Desa, E.; Madhan, R.; Maurya, P.; Navelkar, G.S.; Mascarenhas, A.A.M.Q.; Prabhudesai, S.; Afzulpurkar, S.; Bandodkar, S. The small Maya AUV - Initial field results International Ocean Systems.: 11(1); 2007; 6-8. [5] Data obtained from the AUV: The AUV has been tested on numerous occasions for operations at sea and in freshwater reservoirs. Figures below show the data collected from the AUV missions. Figure: Temperature Vs Depth obtained during the sea trials in the Arabian Sea 5
Figure: Dissolved Oxygen Vs Depth obtained in the trials at the Idduki reservoir Dissolved Oxygen (micro molar) 0 25 50 75 100 125 150 175 200 225 250 275 300 0 2 4 6 8 Depth (m) 10 12 14 16 18 20 oxy2006auv oxy2007auv 22 Figure: AUV underwater performing a mission 6
[6] Eligibility criteria for the firm: 1. The firm should be registered and with a proven track record 2. Experience in handling multidisciplinary Engineering projects 3. Experience in underwater systems or equivalent products. 4. Adequate testing facilities Mechanical, Electrical and Electronics 5. Infrastructure for mechanical fabrication, electronic engineering, control engineering and software support and/or tie up with firms having these facilities. 6. Involved in product development 7. Good strengths in marketing An Expression of Interest for the Transfer of the AUV technology may kindly be sent to Head, Business Development, National Institute of Oceanography before 25 August 2008. Kindly include documentary evidence of the items mentioned in the eligibility criteria. 7