Autonomous underwater vehicle architecture synthesis for shipwreck interior exploration

Abstract

The objective of this thesis is to develop, using a systems engineering approach, the functional analysis, general requirements, key performance parameters, and high-level architectural tradeoff considerations that lead to an architecture synthesis for an autonomous underwater vehicle (AUV) capable of shipwreck interior exploration. A design reference mission is used as the basis for the development of a high-level analysis of alternatives, mission planning, high-level essential tasks and constraints analysis. An examination of the problem space leads to the development of effective stakeholder needs and scope, including context, definitions, the identification of key concerns and system objectives. A literature review of the most mission-pertinent AUVs, including DEPTHX, HAUV, ARROWS and ACQUAS, reveals five key capability gaps. A functional analysis, requirements generation, and architectural design tradeoff analysis lead to the development of a potential architectural solution—the wreck interior exploration vehicle (WIEVLE)—and eight recommendations for future architecture development.