1	The UTD AUV Project Michael Menefee - Ed Paradis
2	Competition AUVSI/ONR underwater robotics competition in San Diego Competed successfully in 2004 and will be competing in 2005 4 Objectives Starting Gate Docking Station Pipeline Break Sonar Pinger
3	2004 Vehicle Successes Predictable physical dynamics Frame-based Construction Custom Components Battery Tubes Depth Sensor Thrusters Failures System Integration Difficulties Construction Issues Dynamics Issues Power Management
4	Final Rankings 1. Massachusetts Institute of Technology 2. Cornell University 3. Ecole de Technologie Superieure 4. University of Rhode Island 5. Duke University 7. University of Florida 8. Amador Valley High School 10. Univ. of Victoria 11. Virginia Tech 12. Pacific Northwest AUV Fellowship 14. Univ. of Colorado at Denver
5	2005 Vehicle Highlights Physically Stable Modular Design Systems Integration Approach Professionally Engineered Components 2004 Influences Physical Dynamics Construction Issues Monolithic System Quality/Reliability Of Components
6	Future Development Addition of more intelligent software More advanced sensors (DVL, range finders, etc.) Physical interfaces (arms, moveable platforms, etc.) Any extra devices required by the competition
7	Applications Defence Surveillance Mine Detection & Disposal Oil/Petrochemical Pipeline inspection & repair Constant presence Telecommunication Undersea cable repair and maintenance Constant Presence
8	Q&A
9	Supplemental Materials
10	Design Innovations Traditional AUVs are “intelligent torpedoes” AUVs are generally single-task devices Our design leverages ideas from more versatile underwater vehicles Frame-based design allows mission flexibility and the ability to perform multiple tasks
11	Systems Integration All devices (except cameras) are connected to the bus via a common interface and protocol Custom-designed microcontroller boards serve as the “glue” to attach other devices
12	2005 System Diagram