Maintained by: mikerb@mit.edu         Get PDF

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

Document Maintained by: mikerb@mit.edu        
Page built from LaTeX source using texwiki, developed at MIT. Errata to issues@moos-ivp.org. Get PDF