Design and Fabrication of Nereid-UI: A Remotely Operated Underwater Vehicle for Oceanographic Access Under Ice

• Main Authors: Whitcomb, Louis L, Bowen, Andrew, Yoerger, Dana, German, C R, Kinsey, James, Mayer, Larry A., Jakuba, Michael, Gomez-Ibanez, Daniel, Taylor, Christopher L., Machado, Casey, Howland, J C, Kaiser, Carl L., Heintz, Matthew, Pontbriand, C, Suman, Stefano, O'Hara, L
• Format: Text
• Language: unknown
• Published: University of New Hampshire Scholars' Repository 2013
• Subjects: nereid-ui; Oceanography and Atmospheric Sciences and Meteorology; Ice Shelf
• Online Access: https://scholars.unh.edu/ccom/699; http://abstractsearch.agu.org/meetings/2013/FM/C31B-0646.html

The Woods Hole Oceanographic Institution and collaborators from the Johns Hopkins University and the University of New Hampshire are developing for the Polar Science Community a remotely-controlled underwater robotic vehicle capable of being tele-operated under ice under remote real-time human supervision. The Nereid Under-Ice (Nereid-UI) vehicle will enable exploration and detailed examination of biological and physical environments at glacial ice-tongues and ice-shelf margins, delivering high-definition video in addition to survey data from on board acoustic, chemical, and biological sensors. Preliminary propulsion system testing indicates the vehicle will be able to attain standoff distances of up to 20 km from an ice-edge boundary, as dictated by the current maximum tether length. The goal of the Nereid-UI system is to provide scientific access to under-ice and ice-margin environments that is presently impractical or infeasible. FIBER-OPTIC TETHER: The heart of the Nereid-UI system is its expendable fiber optic telemetry system. The telemetry system utilizes many of the same components pioneered for the full-ocean depth capable HROV Nereus vehicle, with the addition of continuous fiber status monitoring, and new float-pack and depressor designs that enable single-body deployment. POWER SYSTEM: Nereid-UI is powered by a pressure-tolerant lithium-ion battery system composed of 30 Ah prismatic pouch cells, arranged on a 90 volt bus and capable of delivering 15 kW. The cells are contained in modules of 8 cells, and groups of 9 modules are housed together in oil-filled plastic boxes. The power distribution system uses pressure tolerant components extensively, each of which have been individually qualified to 10 kpsi and operation between -20 C and 40 C. THRUSTERS: Nereid-UI will employ eight identical WHOI-designed thrusters, each with a frameless motor, oil-filled and individually compensated, and designed for low-speed (500 rpm max) direct drive. We expect an end-to-end propulsive efficiency of between 0.3 and ...