iv e r 2

Affordable Next Generation

Autonomous Underwater Vehicle (AUV)

Easy to Operate, single person Launch & Recovery

Commercial Open System Architecture

Intuitive Mission Planner

 iver 2

customize an Iver2 AUV

for Your Application
Commercial and academic users around the world rely on the Iver2 family
of low-cost AUVs for a variety of missions in maritime environments
including lakes, reservoirs, rivers, and estuaries. With a proven track record
over thousands of missions, it is ideal for imaging and environmental
surveys, including research, development, and OEM based applications.
As a commercially developed vehicle, its available worldwide today.

configure Your Iver2 AUV Develop Your Iver2 Mission

Iver2 is the first commercially available AUV system starting at VectorMap is an intuitive and powerful GUI-based mission planner
$50,000 USD. Instantly develop a quote for your system using that lets the operator set parameters for each leg to a waypoint,
our online pricing tool. Build a single quote or a series of quotes including speed, depth and sensor configuration. Download readily
for different vehicles in just minutes. Most system configurations available charts, maps, photos, or satellite images then point and
are available in 8-12 weeks. Add a rugged battery operated WiFi click to position mission waypoints. VectorMap creates an ASCII
box to transfer mission files between an operators notebook and file that transfers to an Iver2 AUV, and in less than a minute,
the Iver2 AUV for a complete system. youre ready to go.
Users can plan multiple vehicle missions on the same map or
overlay, and store the information until mission execution. Then
download mission data via industry standard protocols to a variety
of post-processing programs while the vehicle is parked on the
surface or after the project is complete.

Below: VectorMap geo-referenced mission overlaid on raster and vector

chart source

Above: A variety of Iver2 AUV configurations ready for operational surveys

Below: Lightweight and easy to use, Iver2 AUV system can be launched and
recovered by a single person
standard Survey Models
OceanServer offers standard vehicle models with user-selected We have partnered with YSI Environmental in development of
sensor payloads that address imaging survey needs. These include the EcoMapper, a novel approach to high resolution water quality
side scan or multi-beam sonar, acoustic current profiling and monitoring and mapping. More information can be found at:
video imaging. www.ysi.com/productsdetail.php?EcoMapper41.

OceanServer Iver2 AUV with Imaging Payload

2-5
6-7
8-10
11-12
13-14
15-16
17-20
21-25

Side Scan Sonar Multi-Beam Sonar Still or Video Bathometry Environmental

YSI EcoMapper with Environmental Payload

Expandable Payload Models

Iver2 AUVs with Expandable Payload Options are Ideal The Open System Platform Includes:
for Researchers and Developers Dedicated CPU and Disk for user OS, sensor drivers and
The Expandable Payload (EP) model delivers a flexible, robust open behavioral software
system architecture for smart system design. Use the functionality of
Serial Interface to the Primary Vehicle Controller provides
the base vehicle or add any number of acoustic, environmental or
real-time access to vehicle state and sensor output data
imaging sensors.
Well-documented Application Protocol Interface (API) with
select vehicle command options to permit backseat driver
Three Models Available control of the Iver2 AUV
Model Payload Space (inches) AUV Power (watt hours) Tube Length (inches)
EP30 10" Forward 6 Packs/570 WHrs 30" Simulation utility (SubTester) to validate custom code
EP35 5" Rear, 10" Forward 6 Packs/570 WHrs 35" Defined software Interface to public domain remote helming
EP42 22" Forward 8 Packs/760 WHrs 42" software such as MOOS-IvP

CPU Stack:
5 User Hull Rear Primary AUV CPU and 2nd Forward
Penetrators Section Processor for User Control Section

EP35 shown
 i v e r 2 A UV SPECIF IC ATIO NS

standard features (All Vehicle Models) optional sensors & accessories

dimensions : Standard Length: 49.8 inches sonar side scan : Dual-frequency 330/800 kHz
(without sensors)
sonar multibeam : 260 kHz; Beams: 120, 240, 480;
tube diameter : 5.8 inches Beam width, transmit and receive: 120x 3; Depth: 100 m

weight : 44 Lbs (standard vehicle) doppler velocity log (DVL Options)

depth rating : 100 meters 4 - beam : Single-frequency, down-looking DVL

for low-cost, bottom-track navigation. 4 velocity
endurance : 8-14 hours at speed of 2.5 knots;
bottom location beams.
configuration dependent
6 - beam : Dual-frequency, down-looking DVL for
speed range : 1-4 knots
precise, bottom-track navigation and high-resolution
communication : Wireless 802.11g Ethernet bathymetry. 4 velocity beams and 2 vertical beams
(one up, one down).
power : 2-pin DC charge voltage in
10 - beam : Dual-frequency, up- and down-looking
navigation surface : GPS (WAAS corrected).
DVL for precise surface (ice) and bottom-track navigation
Subsurface: Bottom tracking to 40 m with DVL
and high-resolution bathymetry. 4 velocity beams
or Dead reckoning with compass, depth sensors,
and 1 vertical beam (down) for bathymetry/altimetry
and vehicle speed
and 4 velocity and 1 vertical beam (up) for vehicle/surface
tracking internal data log : location.
Programmable resolution
altimeter : Dedicated 500kHz vertical beam (height
software vectormap : Mission planning from bottom: depth from surface); Min. to Max. Range:
and data viewing 0.06 to 80 m

sonar mosaic : Processes sonar records bottom tracking and current profiling :
for overlay to VectorMap 1 MHz transducers; Min. to Max. Range: 0.06 to 35 m;
Velocity: 10 m/s; Accuracy: 0.25% of the reported
uvc : Underwater Vehicle Control, operation, run Velocity, 0.25 cm/s; Resolution: 0.001m/s
mission, remote control
ct sensor : Conductivity & Temperature (NBOSI)
energy : 600-800 WHrs of rechargeable Lithium-Ion
batteries, depending on vehicle configuration communications : Surface WiFi or 900 MHz
Subsurface WHOI Acoustic Micro Modem
onboard electronics : Intel ATOM processor with
Windows XP embedded; Up to 128 GB solid state camera : Still and video imagery
drive for data collection
security system safety tow float : Emergency airbag
propulsion system : 3-blade cast bronze propeller recovery system

control : Four independent control planes acoustic pinger : Underwater locating and tracking

additional cpu : Low Power1.6 GHz Intel Atom rugged transit case : With custom foam inserts for
based available in the Iver2 EP (Expandable Payload) Iver2 includes collapsible stand
research platforms only

OceanServer Technology, Inc. | 151 Martine Street | Fall River, MA 02723 USA
508.678.0550 | [email protected] | www.iver-auv.com