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Katrina has a pontoon hull configuration constructed of foam-filled fiber glass, making the ASV lightweight. The hull offers a wider deck area for mounting onboard sensors and a waterproof container that houses all electronic components.
Dimensions
Dimensions
Total Length (L) 1.524m
Total Width (W) 0.825m
Total Heigh (H) 0.630m
For additional information and the calculations used to determine the direction, please refer to the Thruster Orientation.
Propulsion
Propulsion
Katrina utilizes four thrusters that operate independently and enables holomonic motion. Each thruster is mounted at a 45 degree angle relative to the forward axis of the vessel.
To evaluate, a Thruster Allocation Matrix was developed to identify how each thruster contributes to the vessels motion. In this matrix, L represents forward/backward distance, and W represents left/right distance.
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