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Marine and Naval Technological Advancements for Robotic AutonomY (MANTA RAY) KRILL & GUPPS

The Marine and Naval Technological Advancements for Robotic Autonomy (MANTA RAY) is an interdisciplinary project dedicated to creating, maintaining, and expanding a network of marine robots for seafloor mapping and underwater perception. The Uncrewed Underwater Vehicles (UUVs) team worked on two vehicles, KRILL and the Ghost Uncrewed Platform Performance Submersible (GUPPS). Each UUV had an engineering and biology based project. The KRILL engineering project redesigned the vehicles propulsion system, dynamics, ballasting, control systems, and observation ability. KRILL now runs at 1 m/s at 10 feet with a sonar and pressure/temperature sensor and can maintain a specific depth. An environmental assessment of KRILL was done for the biology based project to ensure safety at testing sites. The GUPPS engineering project modified the hull to include rotating pectoral fins, a redesign of the tail for flexibility, and an increase in size to house a larger waterproof enclosure. The GUPPS biology project did a behavioral study of the robotic fish hull in an Oncorhynchus mykiss, steel head trout, aquaculture. From this study it was concluded that that there was a behavior change in the trout upon introduction of the two hulls to the culture and there was no statistical difference in behavior between the painted hull and the black hull.

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