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VITA1: An Unmanned Underwater Vehicle Prototype for Operation in Underwater Tunnels

New technologies have pushed Unmanned Underwater Vehicles use in the industry where the focus is often oil and gas applications and, high end systems. Operation in broad underwater tunnels where water turbidity is high, make it difficult to orient Observation Class UUVs inside them. Poor sensory orientation inside the tunnel can put the vehicle integrity and operation effectiveness at risk. In this work, we present a compact UUV prototype which is designed for operation in flooded tunnels, in special, those of hydro power plant. The system architecture is described and each subsystem is tested. Experiments present the effectiveness of each subsystem, with focus on the tunnel, discussing each system in the context of future mapping and autonomous operations. We present a system with a set of sensors aiming manual and autonomous navigation: an imaging sonar for forward looking information and navigation; an array of echosounder sensors used to measure the distance between top, bottom and side walls, which complement the forward looking sonar information; a profiling sonar for tunnel cross-section profiling; and a low light camera for close range inspections. Tests with the system are performed in a swimming pool, a lake, and, finally, inside a hydro power plant tunnel, during a four day-trial at Ceran Castro Alves power plant.