Environmental Effects Monitoring (EEM) is an important tool in assisting Environmental

-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.

Abstract-A series of full-scale zigzag manoeuvring trials were performed using a streamlined Autonomous Underwater Vehicle (AUV) -the MUN Explorer AUV during the summer of 2006. This paper presents the results and observations from the zigzag manoeuvres or the Z-tests performed in horizontal planes. Unlike the conventional method of performing a Z-test, these zigzags were performed by allowing the vehicle to follow a predefined path that was laid out in a zigzag pattern. The paper outlines briefly the method by which these tests were conducted and discusses the observations made.

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.

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