-Autonomous Underwater Vehicles (AUVs) are self-propelled robotic platforms that can perform a predetermined mission completely unmanned. A series of manoeuvring experiments were performed using the MUN Explorer AUV during the summer of 2006 and a selection of these experimental results are presented in this paper. The purpose of these experiments was to collect a set of useful data for validating a hydrodynamic model of the dynamic performance of the vehicle. This paper aims at explaining the methods and measures adopted in accomplishing this task. Apart from providing a data set for validation of the hydrodynamic model, the data record also shows the ability of the AUV to perform extreme manoeuvres and the accuracy with which it can follow a pre-planned mission.

This paper presents preliminary results from a computer program for simulating ship maneuvering in ice covered waters. The program is derived from two programs, Ship Maneuvering Laboratory (SML) and a discrete element numerical modeling program (DECICE). SML is an in-house code developed by Oceanic Consulting Corporation for simulating ship maneuvering in open water. It is based on a ship maneuvering model originally developed by the Japanese mathematical maneuvering group (MMG). DECICE is a discrete element method which was developed by INTERA Technologies and is used to calculate the ice loads on the ship and the interactions between ice pieces. The paper presents a summary of the mathematical methods used together with the results of some case studies for ships EXM004, PSM004 and Esso Osaka Tanker. These computer predictions include turning circle and Zig-Zag maneuvers. Comparisons and discussion of the simulated results between cases with and without ice are also provided.

Abstract-The SQX-500 AUV is currently under joint development by Marport Canada Inc, the Institute for Ocean Technology of the National Research Council Canada, and Memorial University of Newfoundland. With a twin-hull design, and a novel propulsion and control system, the SQX-500 provided several unique challenges during the design and development process. In order to characterize the hydrodynamic performance of this vehicle for various operating conditions, a complete set of hydrodynamic experiments was carried out. These experiments included 0.88 scale model tow tank testing, full scale testing of a custom propeller, passive stability verification, and several tests to characterize the vehicle propulsion system. Together these experiments determine the overall propulsive efficiency of the vehicle under various operating conditions. In addition, analysis of the results from these experiments was used to determine which tests should be performed on future vehicle designs.

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Abstract-Manoeuvring trials are usually performed to determine the manoeuvring characteristics of a marine vehicle. It is through certain standard manoeuvres we evaluate the robustness, performance and limitations of the vehicle control system. A series of open-water manoeuvring trials were performed using the MUN Explorer AUV in the summer of 2006. The actual purpose of these experiments was to collect a set of experimental data in order to validate a hydrodynamic model of the dynamic performance of the vehicle. This paper presents the results and observations from the analysis of a set of manoeuvring trials data: in particular the results from straightline (acceleration -deceleration) tests and turning circles. It outlines briefly the method by which these tests were conducted and discusses the results and observations made. Apart from providing a data set for validation purposes, the results also indicate the ability of the vehicle to follow a pre-planned mission with precision.