Flooded In-Tank Inspection Capability (HexScan ROV)

This project focuses on the design and development of a repackaged VADER Remotely Operated Vehicle (ROV), a highly capable tubular-shaped ROV. The goal is to maintain the core functionality and performance of the original ROV while enhancing its maneuverability and ease of deployment in complex underwater environments, such as tanks. The new form factor aims to offer a more compact and agile solution without compromising on the robust sensor suite, including high-resolution cameras, a micro Doppler Velocity Logger (DVL), side-scan sonar, and an ultrasonic thickness gauge, all critical for advanced underwater inspection, mapping, and data collection.The current tubular design, while efficient for certain tasks, presents challenges in constrained or tight spaces due to its shape and size. By transitioning to a rectangular form, the re-engineered ROV will benefit from a more streamlined design that allows for enhanced hydrodynamics, improved agility, and easier navigation in confined environments. The rectangular configuration also permits better packing of internal electronics and optimized placement of sensors, ensuring that each sensor’s line of sight and operational effectiveness are maintained or even improved. The compact design will be achieved without sacrificing the operational capacity or the vehicle's ability to collect high-quality data in real-time.The main sensor suite will remain unchanged but will be strategically integrated into the new form. The micro DVL will continue to provide precise velocity measurements for depth and motion control, ensuring stability in low-visibility conditions. The side-scan sonar, positioned for optimal sonar coverage, will deliver high-resolution imaging of the seafloor and submerged structures. The ultrasonic thickness gauge will be implemented for critical materials assessment in infrastructure inspection applications. These sensors, combined with the new streamlined design, will allow the ROV to perform its intended tasks with enhanced precision and greater maneuverability.This transformation will also address logistical challenges related to the transport and deployment of the ROV. The more compact shape reduces the vehicle's overall footprint, making it easier to store, launch, and recover in a wider variety of operational settings.