Morpheus - A Highly Maneuverable A-Size UUV

Morpheus is an A-Size unmanned underwater vehicle (UUV), based on the MK-39 EMATT hull. MIT has created new internal electronics, retractable dorsal fins, modified servo-driven tail-cone and optimized nose-cone, together with a new software stack to create a highly maneuverable platform for a more general mission set. Morpheus has a unique capability to dynamically vary the directional stability of the vehicle using its tuna-inspired retractable dorsal fins. This allows Morpheus to travel straight with higher stability, and destabilize the body during maneuvers to achive extreme turning rates

Size:	0.9 m length, 0.12 m diameter
Sensors:	GPS, IMU, external pressure/depth and temperature sensor, internal pressure sensor, wifi, GSM, and tetrahedral hydrophone array with acoustic data acquisition system
Top Speed:	4.0 meters/sec
Top turn rate:	20 - 30 deg/sec
Software:	Autonomy System: MOOS-IvP
	Navigation System: HydroMAN, piUSBL
	Frontseat software: moos-ivp-frontseat
Projects:	https://oceanai.mit.edu/pavlab/proj/morpheus
	https://oceanai.mit.edu/pavlab/proj/perseus

Recent Publications

2022 (1 item)

Supun Randeni, Emily M. Mellin, Michael Sacarny, Skyler Cheung, Michael Benjamin, Michael Triantafyllou, Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs, Bioinspiration & Biomimetics, (17)3, April, 2022. (bibtex)

2021 (1 item)

Supun Randeni, Emily Mellin, Michael Sacarny, Skyler Cheung, Michael Benjamin, Michael Triantafyllou, Bioinspired Dorsal Fins to Provide Optimal Maneuverability, Stability, and Response to Turbulence in Rigid Hull AUVs, Submitted and Under Review, 2021. (bibtex)

2020 (2 items)

Toby Schneider, Henrik Schmidt, Supun Randeni, Self-Adapting Under-Ice Integrated Communications and Navigation Network, 2020 Underwater Communications and Networking Conference (UComms), 2020. (bibtex)
Supun Randeni, Erin Fischell, Henrik Schmidt, An {AUV} dynamic model, based on the conservation of energy, for underwater navigation aiding, IEEE Journal of Oceanic Engineering (Under Review), 2020. (bibtex)

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