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Ocean processes are of biological, geological, chemical or physical nature, occurring at micro — to kilometer scales, from less than seconds to centuries, turning the understanding and the sustainable management of the ocean into a multi-scale and multi-disciplinary effort. To address this variability with a cost-effective solution, the European FP7 project NeXOS has developed a new generation of...
This paper presents the design and construction of Guanay-II vehicle. It is an autonomous underwater vehicle that navigates over the sea surface and, at certain fixed points, dives vertically to obtain a profile of a water column. It was designed for shallow water, with maximum depth of 30 m. The vehicle uses a cylinder to do the immersions. The cylinder can take in and eject water smoothly, thus...
This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile,...
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