SeaShark: Towards a Modular Multi-Purpose Man-Portable AUV

TL;DR

SeaShark is a modular, portable micro-AUV designed for versatile underwater tasks with easy configuration, simple operation, and suitable for research and commercial applications, especially where high-precision navigation is not critical.

Contribution

This work introduces the SeaShark AUV, a novel modular, user-friendly micro-AUV with configurable payloads and simplified navigation, expanding its usability for diverse underwater missions.

Findings

Successful deployment in bio-habitat mapping

Effective in-harbor wall inspection

Modular design enables versatile configurations

Abstract

In this work, we present the SeaShark AUV: a modular, easily configurable, one-man portable micro-AUV. The SeaShark AUV is conceived as modular parts that fit around a central main tube, which holds battery and other vital parts. The head unit comprises easy exhangeable, stackable, and 360 degree rotatable payload sections to quickly obtain a suitable configuration for many objectives. We employ navigation no better than dead reckoning or relative navigation with respect to some well-known structure, and thus aim at underwater activities that do not require highly accurate geo-referenced data-points. Operating the SeaShark AUV requires only the vehicle itself and a tablet for mission planning and post-mission review. We have built several complete SeaShark systems and have begun exploring the many possibilities and use-cases in both research and commercial use. Here we present a comprehensive overview and introduction to our AUV and operation principles, and further show data examples for experimental operations for shore-to-sea bio-habitat mapping and in-harbor wall and pier inspection