The development of autonomous underwater vehicle (AUV) technology began at LVNT in 2008 with the first version of the Pirajuba AUV. In 2010, the second version was launched, featuring changes to the onboard electronics and software as well as improvements to the hull. Tests with this version were conducted in Angra dos Reis in 2012 and 2013. Variations of this version were tested off the coast of Ubatuba in 2014 and 2015. An oceanographic version of the AUV incorporated sensors for physical-chemical and biological parameters. The integration of these sensors with a plankton imaging system resulted in a device for which a patent application was filed in 2017. In addition to applications in biological oceanography, the AUV has been used in studies of maneuverability and navigation.
Currently, a hybrid-type AUV is being developed to meet the demand for a vehicle with a hydrodynamic profile and an umbilical cable management system that delivers high performance at cruising speed while seamlessly integrating autonomous and teleoperated modes. The vehicle has a modular design, with a hydrodynamic hull that coincides with the structural hull (as is the case with torpedoes and AUVs such as the Gavia), with a maximum operating depth of 200 m and a cruising speed between 3 and 4 knots. Its payload consists of an HD camera, dissolved oxygen sensors, and a heavy oil or CO2 detector. Its control system is implemented on a network of boards with STM32 family microcontrollers, developed by LVNT-USP, interconnected via a “CANOpen” communication protocol.
AUV PIRAJUBA PATENT
Alvarez, A. A.; Oliveira, L. M.; Vale, R. T. S.; Diana, R. E. Y.; Lopes, R. M.; Pellini, E. L.; Medeiros, M.; de Barros, E. A. Autonomous System for the Acquisition of Oceanographic Variables and Filming of Marine Plankton. 2017, Brazil. Patent: Innovation Privilege. Registration number: BR1020170128610, title: “Autonomous System for Acquiring Oceanographic Variables and Filming Marine Plankton,” Registration authority: INPI – National Institute of Industrial Property. Filing date: July 11, 2017