Propulsion systems for micro-autonomous underwater vehicles (μAUVs)

The development of small-stale sensor platforms for the internal monitoring of aqueous processes creates a range of challenges in terms of the provision of mobility. De-coupled x-y plane and z-axis movement, the need for low power consumption and a minimum of 4 degrees of freedom means that the suitability of conventional propulsion systems needs to be investigated. This paper presents a brief summary and comparison of the available propulsion options. Propellers have been chosen as the best means of propulsion and a novel approach to modeling and selection of both motors and propellers is given. The thruster configuration and initial mechanical designs for a μAUV are also outlined.