In this work, we present the SeaShark AUV: a modular, easily configurable, one-man portable micro-AUV. The SeaShark AUV is conceived as modular parts that fit around a central main tube, which holds battery and other vital parts. The head unit comprises easy exhangeable, stackable, and 360 degree rotatable payload sections to quickly obtain a suitable configuration for many objectives. We employ navigation no better than dead reckoning or relative navigation with respect to some well-known structure, and thus aim at underwater activities that do not require highly accurate geo-referenced data-points. Operating the SeaShark AUV requires only the vehicle itself and a tablet for mission planning and post-mission review. We have built several complete SeaShark systems and have begun exploring the many possibilities and use-cases in both research and commercial use. Here we present a comprehensive overview and introduction to our AUV and operation principles, and further show data examples for experimental operations for shore-to-sea bio-habitat mapping and in-harbor wall and pier inspection

中文翻译：

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SeaShark：迈向模块化多用途便携式 AUV

在这项工作中，我们展示了 SeaShark AUV：一种模块化、易于配置、单人便携式微型 AUV。SeaShark AUV 被设计为模块化部件，围绕中央主管安装，该主管装有电池和其他重要部件。头部单元包括易于更换、可堆叠和 360 度可旋转的有效载荷部分，以快速获得适用于许多目标的配置。对于某些众所周知的结构，我们采用的导航不比航位推算或相对导航好，因此针对不需要高精度地理参考数据点的水下活动。操作 SeaShark AUV 只需要车辆本身和用于任务规划和任务后审查的平板电脑。我们已经构建了几个完整的 SeaShark 系统，并开始探索研究和商业用途中的许多可能性和用例。在这里，我们对我们的 AUV 和操作原理进行了全面的概述和介绍，并进一步展示了用于岸海生物栖息地测绘和港内墙壁和码头检查的实验操作的数据示例