Research Project
Researchers: Williams, Stefan (Principal investigator) , Williams, Stefan (Principal investigator) , AODN Data Manager (Point of contact, Distributes) , Data Officer (Point of contact, Distributes) , Data Officer (Point of contact, Distributes)
Brief description The IMOS AUV Facility has an Autonomous Underwater Vehicle called Nimbus (IMOS platform code:NIMBUS), capable of undertaking high resolution geo-referenced survey work. This platform is a custom designed and developed mid-size robotic vehicle built at the Australian Centre for Field Robotics. This AUV has been designed for imaging over complex underwater bathymetry and for deployment off smaller vessels than AUV Sirius. The submersible is equipped with a suite of oceanographic sensors including high resolution stereo cameras (6MP each), depth sensor, Doppler Velocity Log (DVL), Compass, Inertial Measurement Unit (IMU), Ultra Short Baseline (USBL), forward and downward looking obstacle avoidance sonar and a conductivity/temperature sensor (Aanderraa). The vehicle is controlled by an on-board PC stack which is used to log sensor information and run the vehicle's control algorithms. The vehicle has demonstrated its capacity to collect high resolution, near bottom imagery on trajectories over rough terrain that has been used to generate 3D meshes and ortho-mosaics.
Lineage Maintenance and Update Frequency: asNeeded
Lineage Statement: Current Vehicle Specifications (2020) - Depth Rating: 300m; Size: 2.8m(L) x 0.5m(H) x 0.3m(W); Mass 120kg; Maximum Speed: 1.2m/s; Batteries: 1.6 kWh Li-ion pack; Propulsion 700W Bluefin Tail, 4x 320W Tunnel Thrusters; Navigation - Attitude/Heading: Tilt (+/-0.5o), Compass (+/-2o); IMU: KVH1750 Depth: Paroscientific pressure sensor (0.01%); Velocity: RDI Explorer PA ADCP (1-2mm/s); Altitude: RDI Explorer PA; GPS: uBlox F9P. Optical Sensing - Camera: AVT GT2750 14bit 2750x2200 CCD; Lighting: 4x 900W LED Strobes; Separation ~1.2m between camera and light. Obstacle avoidance: 2x Tritech Micron single beam Other Sensors - CT: Aanderaa 4319 Communications - Radio Frequency: Freewave 900 MHz radio; Acoustic Modem: Evologics S2C 18/34
Notes
Credit
Australia’s Integrated Marine Observing System (IMOS) is enabled by the National Collaborative Research Infrastructure Strategy (NCRIS). It is operated by a consortium of institutions as an unincorporated joint venture, with the University of Tasmania as Lead Agent.
Notes
Purpose
To undertake high resolution surveys of benthic habitats in support of IMOS goals
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