Platforms

Underwater vehicles

ALPHA series
ALPHA-Science: This is the first iteration of ALPHA AUV. It runs our ROS-MVP framework. Localization is implemented using GPS, Pressure sensor, Water Linked DVL, Xsens MTi630. It carries three science sensors, Star-oddi online CTD, RBR DO opted, and Turner Design Chlorophyll optical sensor.

ALPHA-RISE: This is the second iteration of ALPHA AUV. It is currently under development based on the same localization and software framework as ALPHA-Science. It is used for underwater iceberg mapping application

AUV Prototype: This AUV is an iteration of the ALPHA AUV. However, we simplified the fabrication process by minimizing 3D printed fairing. Instead, we use HDPE panels to make the AUV fairings. Moreover, it is equipped with 6 thrusters for 6-DOF maneuvering. This new AUV will be used for underwater missions where requires precise control, e.g., underwater intervention and target interrogations.

Under-ice BlueROV-2
This ROV is modified from the BlueROV-2 platform. With the support from the NSF-OPP-AON program, we have integrated upward-looking Nortek DVL/ADCP, two FLIR machine camera, MicroStrain AHRS, and Blueprint Oculus imaging sonar for under-ice sensing. Students working on this platform is focus on developing new localization and navigation algorithms for under-ice operation.

Riptide micro-AUV (decommissioned)
This AUV is mainly used for coastal water sampling. The vehicle has a 48-in flooded section allowing users to integrate wet sensors and sonar. We have integrated the bathyswath interferometric sonar, a Water Linked DVL, a XSENS MTi-630 AHRS on the vehicle, and a Bee 900mHz RF module. Students working on this platform is focus on developing coverage path planning for seabed mapping.

Underwater float
This float was design for a undergraduate course allowing students to gain hands-on experience on electronics. The float can be programmed to profile the water at different depth in the water tank and to collect temperature profiles.

Surface Vehicles

Hero ASV from Clearpath Robotics
This ASV was purchased with the support from the Champlin Foundation. The vehicle will be used for undergraduate education, particularly ocean engineering students. A suite of sensor are available, include scanning sonar, LIDARs, and underwater cameras. The students in the class will gain experience running the ASV and processing sensor data in outdoor field tests.

WAM-V8: We have a WAM-V8 Catamaran type ASV available for the Robotic Iceberg Sentinels (RISE). projects. The ASVi s about 8 ft (2.5 m) long with a transporting trailer available. A suite of mapping sensors (LIDARs, Cameras, and multi-beam sonar) will be integrated for iceberg mapping, and a set of communication sensors (Hydromea LUMA-X UV and Blueprint Subsea SeaTac USBL) will be available to support underwater platforms.

LEO ASV (decommissioned)
This ASV is designed for undergraduate course where students could gain hands-on experience in control and guidance system development on actual platforms. The ASV has a line-of-sight guidance system and heading controller implemented. User could also remotely control the ASV using a Xbee 900mHz RF module.

Land robots

Jackal and Husky UGVs
The UGVs were purchased with the support from the Champlin Foundation. The goal is to integrate hands-on experiential learning into URI undergraduate class. These robots are used in our 100 level class (The World of Robots) where students use the robot to learn how they move, sense and control through interactive events.