Eva A Hybrid Rov/Auv For Underwater Mining Operations Support

This paper presents EVA, a new concept for an hybrid ROV/AUV designed to support the underwater operation of an underwater mining machine, developed in the context of the European H2020 R&D VAMOS Project. This project is briefly presented, introducing the main components and concepts, providing the reader with clear picture of the operational scenario and allowing to understand better the functionality requirements of the support robotic vehicle developed. The design of EVA is detailed presented, addressing the mechanical design, hardware architecture, sensor system and navigation and control. The results of EVA both in water test tank, in the ! VAMOS! Field trials in Lee Moor, UK, and in an harbor scenario are presented and discussed