The Tethys autonomous underwater vehicle (AUV) is a 110 kg vehicle designed for long-range, high- endurance operations. Performance goals include supporting a payload power draw of 8 W for a range of 1000 km at 1 m/s, and a power draw of 1 W for 4000 km at 0.5 m/s. Achieving this performance requires minimizing drag and maximizing propulsion efficiency. In this paper, we present the design of the propulsion system, explore the issues of propeller-hull interactions, and present preliminary test results of power consumption and efficiency. In recent underwater experiments, the propulsion system's power consumptions were measured in both Bollard pull tests and during the vehicle's flights. Preliminary results of power consumptions and efficiency are shown to be close to the theoretical predictions.
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机译：特提斯（Tethys）自主水下航行器（AUV）是一款110公斤重的运载工具，专为远程，高耐久性作业而设计。性能目标包括支持在1000 m范围内以1 m / s的速度消耗8 W的有效负载功率，以及在4000 m时以0.5 m / s的速度消耗1 W的功率消耗。为了达到这一性能，需要将阻力最小化并将推进效率最大化。在本文中，我们介绍了推进系统的设计，探讨了螺旋桨-船体相互作用的问题，并给出了功率消耗和效率的初步测试结果。在最近的水下实验中，在系船柱拉力测试和飞行过程中都测量了推进系统的功率消耗。功耗和效率的初步结果显示与理论预测相近。
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