Mechanical Structure and Propulsion
mechanical arrangement follows a modular approach,
with three main bodies linked by a light mechanical
structure. Each body is assembled with interchangealble
cilindrical sections, most
of them machined in acetal copolymer.
Horizontal propulsion and direction are controlled
by four independent thrusters
located at the stern.
Another set of thrusters, in the vertical
direction, control vertical velocity and pitch angle. A
single lateral thruster provides sway motion.
The thruster arrangement permits
operations in very confined areas, with virtually
independent horizontal, vertical, and lateral motion at velocities
starting at 0 m/s.
provided by rechargeable Li-Ion batteries
located in the lower pod, with a total
energy of 800 Wh.
Depending on vehicle velocity, these batteries can last
up to 10 hours, corresponding to about 40km.
computer is a PC-104 stack located in the upper port
body, with a power supply, the CPU,
a communications board and a solid-state disk. The
navigation system is based on a LBL
acoustic network. The vehicle software continuously fuses
ranges to the acoustic beacons, together with compass heading,
inertial data and
thruster RPM to compute the estimated position.
spare cilindrical sections
to accomodate payload sensores,
such as video and sonars, and
it is simple to include further modules if required. All
end caps have spare connectors to provide energy
Larger payload sensors may also be attached to the
Before vehicle launch, two acoustic beacons are deployed in the
TriMARES missions may be programmed as
an AUV using a
GUI software, where all mission segments are detailed (waypoints,
velocity, depth, ...). Alternatively, the operator may
chose to connect the fiberoptic umbilical to steer the
vehicle as an ROV, providing also a highspeed link for
realtime data transmission.
Vehicle fully assembled.
Jan'11 - Computational system
Dec'10 - Validation of
energy management module (lower pod).
Sep'10 - First mechanical parts
Aug'10 - Contract signed, with