Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous, and labor intensive. Operations from oceanographic vessels are costly and limited to open seas and generally deeper bodies of water. In addition, with lake, river, and ocean shoreline being a finite resource, waterfront property presents an ever increasing valued commodity, requiring exploration and continued monitoring of remote waterways. In order to efficiently explore and monitor currently known marine environments as well as reach and explore remote areas of interest, we present a design of an autonomous surface vehicle (ASV) with the power to cover large areas, the payload capacity to carry sufficient power and sensor equipment, and enough fuel to remain on task for extended periods. An analysis of the design and a discussion on lessons learned during deployments is presented in this paper.
The most relevant work to the proposed design is the WHOI Jetyak by Kimball al @cite_5 , on which we have based our design. Their Jetyak is capable of autonomous operations carrying different payloads for extended periods of time; however, the design does not allow for manual operations or easy reconfiguration of the payload. Next, we discuss other approaches to the ASV design and how their contributions have influenced our design.
@cite_5
1969203871
This paper illustrates the components, capabilities, and some characteristic applications of the Woods Hole Oceanographic Institution Jetyak — a small autonomous surface vehicle (ASV) designed for the collection of oceanographic data from shallow or dangerous waters. The Jetyak is the result of custom modifications to a Mokai jet-powered kayak, including an A-frame and sea chest for installation of instrumentation, servo-driven controls and an Ardupilot autopilot for autonomous operation, an onboard computer for instrument control and data logging, and radios for wireless operation and communications. With these modifications, the Jetyak's cost of replacement is less than $15,000 (excluding the cost of instrumentation payload). The paper addresses the strengths and weaknesses of the Jetyak relative to piloted small boats and jetskis, autonomous underwater vehicles, and existing ASVs. Preliminary data are included from some shallow-water and dangerous Jetyak field campaigns in order to illustrate applications to which the Jetyak is well or uniquely suited.