Design, Implementaiton, and Refinement of a Hardware-In-the-Loop Simulator For a Hovering AUV

Document Type

Conference Proceeding

Publication Date



Ocean Science and Engineering


A simulator was designed for troubleshooting the hovering AUV Mola Mola, operated by the National Institute for Undersea Science and Technology. The SeaBED class Mola Mola had suffered several failures in its last 2010 cruise and two 2011 cruises. Through simulator testing, these failures were found to be a single power system issue that manifested itself in three very different ways as it worsened during the differing conditions of the cruises. The simulator supplies navigation parameters to the vehicle control system while monitoring the AUVs thruster RPM. Running the simulator with the vehicle in air can reveal general mission behaviors. By mounting the thrusters in a water tank and monitoring the opened housing electronics, power issues can be examined during the course of simulated missions. © 2012 IEEE.

Publication Title

OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean