Unmanned underwater vehicles (UUVs) have received worldwide attention and been widely used in various applications. In this paper, a recently developed low cost UUV prototype at the University of Canterbury is introduced, which is designed specifically for shallow water tasks, especially for inspecting and cleaning sea chests of ships for biosecurity purpose. The main hull of the UUV is made of PVC, with a 400mm diameter and 800mm length. External frames mount two horizontal propellers, four vertical thrusters, and power is derived from onboard batteries. The maximum thrust force of up to 10kg that is provided by the propellers can generate a forward/backward speed of up to 1.4m/s for the 112kg UUV. The vertical thrusters provide depth control with a max thrust force of 20kg. The UUV is equipped with a range of sensors capable of sensing its instantaneous temperature, depth, attitude and surrounding environment. Costing less than US$10,000 for a prototype, it provides an excellent platform for further underwater vehicle development targeting shallow water tasks with a working depth up to 20m.
Index TermsUnmanned underwater vehicle, low cost, hull design, shallow water inspection
Abstract-Unmanned underwater vehicles (UUVs) have received worldwide attention and been widely used in various applications. In this paper, a UUV prototype recently developed at the University of Canterbury is introduced, featuring low cost and ready use for shallow water tasks, especially for inspecting and cleaning sea chests of ships for biosecurity purpose. The main hull of the UUV is made of PVC, with a dimension of 400mm in diameter and 800mm in length. External frames are constructed for mounting two horizontal propellers, four vertical thrusters, and onboard batteries. The maximum thrust force up to 10kg provided by the propellers can generate a forward/backward speed of up to 1.4m/s for the 120kg UUV. The vertical thrusters provide depth control with a full load of 20kg. The UUV is equipped with a range of sensors capable of sensing its instantaneous temperature, depth, attitude and surrounding environments. Overall, the UUV costs less than US$10,000 and provides an excellent platform for further underwater vehicle development targeting shallow water tasks with a working depth up to 20m.
Abstract-This paper presents image processing algorithms systems [13][14][15] and many tele-operated systems [16][17][18], to for cell structure recognition, which provides the desired name just a few. These systems are limited in throughput and deposition destinations without human interference for an reproducibility because operator input (e.g., locating features automated cell injection system. Adherent cells (endothelial and destinations) or operator involvement (e.g., switching cells) are the main focus. The surface and shadow information . . of the nucleoli of endothelial cells is used to extract their locations, which subsequently produce a desired deposition required. A major holdup is the need for operator input and destination inside the nucleus by Delaunay triangulation. 436 oversight in selecting or identifying specific target locations nucleoli were 92% correctly recognized, paving the way for an or/and cells. automated adherent cell injection system to be developed.
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