000011142 001__ 11142
000011142 005__ 20250129095725.0
000011142 0247_ $$2doi$$a10.24868/11142
000011142 037__ $$aGENERAL
000011142 245__ $$aMINION: Modular and Independent Navigational Intelligent Orientable Nozzle-Thruster
000011142 269__ $$a2024-11-07
000011142 336__ $$aConference Proceedings
000011142 520__ $$aThis article presents a novel design of modular propulsion unit for Unmanned Marine Vehicles.
MINION, an acronym for Modular Independent Navigational Intelligent Orientable Nozzle-Thruster, encapsulates a modular propulsion system that harmonizes Power, Communication, Intelligence, Sensoring (GPS, IMU), Thrust, and Thrust Directionality within a singular watertight and compact element. It represents a sophisticated propulsion system engineered for varied Unmanned Maritime Vehicle (UMV) applications. The design principles of MINION are rooted in the imperative for modular, redundant, and independent systems, catering to exigencies such as robot portability, design flexibility, and cable removal. Functioning at a good level of autonomy, MINION establishes a paradigm in propulsion, integrating into UMV platforms.
Conceived in response to the idea of creating modular and independent systems, MINION manifests itself as a watertight, detachable unit designed for facile transportation and adaptable deployment across diverse vehicles. Constituting an all-encompassing robotic module, MINION incorporates in one single watertight enclosure: Thruster and Thrust Vectoring via Pump-Jet concept exploitation, Pump and Azimuth motor controllers, a 24V battery and Voltage converters, Raspberry Pi 3b+ with digital and analog signals board with signal converters, WiFi module for communication, GPS for positioning and IMU for attitude. The autonomous capabilities of MINION ensure optimized performance in intricate maritime scenarios, with an emphasis on compactness achieved through the integration of the PC, sensors, and control unit within the module.
The operational mechanism of MINION relies on the Pump-Jet principle, rooted in a mixed-flow or centrifugal pump, inducing static pressure to propel water through a steerable nozzle. Characterized by 360° steering for enhanced maneuverability, a Pump-Jet thruster leverages the centrifugal pumps impeller action to generate high-pressure water, and by directing this pressurized water through a steerable nozzle, it achieves thrust and precise control for efficient and maneuverable propulsion in marine environments.
When assimilated onto an Autonomous Surface Vehicle (ASV), MINION serves as: 
•	Propulsion and steering unit safeguarding against damage during bottom collisions, allowing mitigating additional hydrodynamic resistance. 
•	Onboard additional or principal computing element
•	Onboard additional or principal Navigation sensor-package element
•	Onboard additional or principal source of energy
Additionally, the MINION architecture aims to incorporate automated FAIR (Findable, Accessible, Interoperable, Reusable) data compliance into marine robotics datasets. This strategic initiative endeavors to establish standardized variable names, fostering domain interoperability and improving the findability, accessibility, and reusability of data collected by marine robotic systems.
000011142 7001_ $$aOdetti, A$$uCNR-INM
000011142 7001_ $$aCaccia, M$$uCNR-INM
000011142 7001_ $$aBruzzone, G$$uCNR-INM
000011142 773__ $$tConference Proceedings of iSCSS
000011142 773__ $$jiSCSS 2024
000011142 8564_ $$uhttps://library.imarest.org/record/11142/files/iSCSS_24_paper_12.pdf$$98dee76be-6019-4f2e-a1c1-a91921441261$$s8874800