Abstract
Since almost a century, underwater robots have been developed in order to respond to the specific needs of historical actors of the domain (military, hydrocarbons exploitation, underwater cabling or benthic exploration), without addressing specifically the question of versatility or modularity of the underwater platform. This thesis aims to address these questions on a technological solution dedicated to shallow water or confined environment. In other words, the objective is to realise an underwater system, able to evolve on the mechanical, electronical or software aspects. This requires to properly conceptualise this « versatility » with an abstraction of the control architecture, on the actuation aspect, with the expression of the versatility linked to the actuation systems, or on the software architecture level, with a Service-Oriented-Architecture (SOA) approach, in order to tackle the diversity of the application requirements. This study is based on the Jack system, developed by the Ciscrea Company, which is the industrial partner of this project, and brings the economical aspect as a central requirement. This underlines another view of the versatility question, the development of a range of product for the Ciscrea Company.This thesis proposes the conception, realisation and experimentation of such a versatile underwater system, with test-tank and field validation.