DEVELOPMENT OF AUV 'PTEROA'
Design of Prototype PTEROA250 
There are three important specifications for the pilot model
These limitations are a little sever for practical use.
- The maximum diving depth is 2000 m .
- When it cruises in 3 knots using thrust power, it endures for 40 minutes.
- Payload is limited to a 35mm camera and a strobe.
On the basis of the experience through the development of
PTEROA150, a prototype vehicle PTEROA250 was designed, of which
specification is as follows:
To meet the above items, the following is the major
- Diving depth: 6,000 m .
- Cruising speed: 4 knots for 100 minutes .,
- Payload: 16 kg or 80,000 cm3 .
- Configuration: Similar figure to PTEROA150 .
- Body length: 2.5 m .
- Dry weight: 1.0 ton .
- Pressure cylinder: CPU, interface boards, data processors,
and navigation system are installed in one cylinder.
- Battery: Oil immersed NiCd .
Fig. 6 shows the general arrangement of PTEROA250 and Table 2
shows its principal particulars. The most important factor to
determine dimensions of the vehicle is the amount of battery.
When the capacity of battery is improved, this vehicle can cruise
for a longer time or can be designed more compactly.
********Fig.6 General arrangement of PTEROA250*******
********Table 2. Principal particulars of PTEROA250********
- URA Tamaki:"Free Swimming Vehicle 'PTEROA' for Deep Sea Survey", Proc.ROV'89, (1989.3), pp.263-268
- URA Tamaki , OTSUBO Shinichiro ,"Design of Unmanned Untethered Submersible for Quick Swimming", J. of Soc. of Naval Architects of Japan, Vol.162, 1987, pp.117-124. (in Japanese)
- URA Tamaki , OOTSUBO Shinichiro:"Gliding Performance and Longitudinal Stability of Free Swimming Vehicle", Proc.PACON88, (1988.5), pp.OST1/10-18
- ISHITANI Hisashi , BABA Yasuko , URA Tamaki:"Attitude Control System of a Streamline Cruising Type Autonomous Submersible", Proc.6th Int.Symp.on Unmanned Untethered Submersible Tech., Baltimore, (1989.6), pp.452-457
- URA Tamaki:"Development of AUV 'PTEROA', International Advanced Robotics, MBARI, (1990.10), pp.195-200
Last modified: Thur July 6 1995