Single Thruster AUV for Collecting Water Column Data in Shallow Water Using Buoyancy System

Collecting water column data can be an important indicator for understanding and investigating the marine environment. Many AUVs were invented for the task, such as Starbug X, made by Andreas et al. [1] This paper also presents the AUV that can collect water column data. Instead of using thrusters to control the position, four weights are placed inside of the AUV. By moving weights with rods, AUV can control its position by changing buoyancy.