Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions

West, Michael E.; Novitzky, Michael; Varnell, Jesse P.; Melim, Andrew; Sequin, Evan; Toler, Tedd C.; Collins, Tomas R.; Bogle, John R.

Title:

Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions

dc.contributor.author	West, Michael E.
dc.contributor.author	Novitzky, Michael
dc.contributor.author	Varnell, Jesse P.
dc.contributor.author	Melim, Andrew
dc.contributor.author	Sequin, Evan
dc.contributor.author	Toler, Tedd C.
dc.contributor.author	Collins, Tomas R.
dc.contributor.author	Bogle, John R.
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename	Georgia Tech Research Institute
dc.date.accessioned	2011-05-16T15:18:23Z
dc.date.available	2011-05-16T15:18:23Z
dc.date.issued	2010
dc.description.abstract	Georgia Tech Research Institute (GTRI) has developed the Yellowfin, a small man-portable Unmanned Underwater Vehicle (UUV). The mission for Yellowfin is to conduct autonomous collaborative operations. The multi-UUV design allows for a much wider swath of the ocean to be observed and monitored, while collaborative operations allow multiple aspects of a mission to be tackled with distributed systems. Both oceanographic and military missions are aided tremendously by the use of such a UUV network. This paper introduces the modular and flexible design of the Yellowfin system and describes some of the technologies integrated within the system construct. The system and software architectures of Yellowfin leverage COTS technologies, including software whose foundation is MOOS-IvP, expanded to include several aspects of autonomy, communication with the WHOI acoustics modem utilizing the JAUS message standard, mission planning using MissionLab, mission execution via Falcon- ViewTM , front seat control with a microcontroller, and visualization with the Blender open-source, cross-platform suite of tools for 3D graphics.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/38878
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.subject	Underwater vehicles	en_US
dc.subject	Unmanned underwater vehicles	en_US
dc.subject	Autonomous operation	en_US
dc.title	Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions	en_US
dc.type	Text
dc.type.genre	Paper
dspace.entity.type	Publication
local.contributor.corporatename	Georgia Tech Research Institute (GTRI)
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
relation.isOrgUnitOfPublication	3928f3f0-0759-4b3a-aa0a-10075096fef4
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf