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Serafina

ANU - Information Engineering

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Research
Objectives
Approaches
Systems
Submersibles
Sensors
Computers
Results
Test runs
Publications
Posters
Theses
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Open positions
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Serafina.com.au
Resources
AUVs worldwide

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 (uickTime players can be found here: )
 (DivX codecs can be found here)

Test runs
Serafina fighting the currents in an approx. 2 kn's surface stream. The small submersible is still manoeuvrable and responsive.
Serafina in surface currents
also available as:
mpeg-4 (large screen, high quality, 48 MB),
mpeg-4 (large screen, low quality, 5 MB),
mpeg-4 (small screen, high quality, 17 MB),
mpeg-4 (small screen, low quality, 2 MB),
QuickTime: mpeg-1 (5 MB),
QuickTime: Sorensen3 (8 MB),
QuickTime: H.263 (6 MB)
Serafina underwater shots
also available as:
mpeg-4 (large screen, high quality, 84 MB),
mpeg-4 (large screen, low quality, 8 MB),
mpeg-4 (small screen, high quality, 23 MB),
mpeg-4 (small screen, low quality, 3 MB),
avi: DivX (small screen, high quality, 15 MB),
avi: DivX (small screen, low quality, 6 MB),
QuickTime: mpeg-1 (16 MB),
QuickTime: Sorensen3 (9 MB),
QuickTime: H.263 (9 MB)
Some underwater shots of Serafina, demonstrating general manoeuvrability and posture stabilization.
Into the sun shot
also available as:
mpeg-4 (large screen, high quality, 19 MB),
mpeg-4 (large screen, low quality, 2 MB),
mpeg-4 (small screen, high quality, 6 MB),
mpeg-4 (small screen, low quality, 1 MB),
QuickTime: mpeg-1 (5 MB),
QuickTime: Sorensen3 (2 MB),
QuickTime: H.263 (2 MB)
These two underwater shots of Serafina are by-products of other experiments and are included in this web-site for their plain beauty only.
This test demonstrates accurate and fast active posture stabilization. Strong external disturbances are compensated easily.
Active stabilization
also available as: mpeg1, mpeg4, sorensen3, DivX4, XviD
Fast stabilized turns
also available as: mpeg1, mpeg4, sorensen3, DivX4, XviD
The demonstration on the left shows the employment of active stabilization for fast turns, which then can be easily controlled (the roll axes tends to be quite unstable during fast turns otherwise).
Fast changes in orientation (roll and pitch +/- 180°) and immediate re-stabilization on the right.
Flipping stabilized orientations
also available as: mpeg1, mpeg4, sorensen3, DivX4, XviD
Serafina's maiden dive (remote controlled)
also available as: mpeg1, mpeg4, sorensen3, DivX4
This maiden dive took place in September 2003. Everything is operated manually and by remote. No loss in pressure, all motors and controllers were operational, and (even though it was not carefully trimmed at the time) the boat proved to be extremely agile and fast right from the start.

 


Contact for the Serafina project: Uwe R. Zimmer
Site last modified: Thursday, 2 November 2006
 
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