Goddess of the Hunt. Artemis.

Photo
Photo
Photo




God of Light. Apollo.

Photo
Photo
Photo

Older Vehicles


2016 Thor


thor




Thor has a mechanical design that implemented ideas from previous double-hull and single-hull AUV designs. Thor introduces vectored thrusters that can be dynamically repositioned to maximize vehicle speed and maneuverability. It also has sliding electronics racks which allow for better access to the bulkheads and easier electrical integration.

2016 Thor UHPV Timelapse

Key Stats

Dry Weight: 80.77 lbs
Dimensions: 2.93' x 1.24' x 3.56'
Max Speed: 0.70 m/s
Run Time: 2 hours
Power: 1000W

Features:

•    Real Time Dynamic Thrust Vectoring
•    Modular Quick-Access PCB Backplane
•    Blueview Multi-Beam Imaging Sonar
•    Stereoscopic Vision
•    Modular Bulkhead Panels
•    6 Degrees of Freedom

2016 Loki


loki




This is Loki. Together, Thor and Loki worked in tandem to complete the RoboSub course faster than ever before. Due to Loki’s compact size, we had to rethink the way our AUVs are designed. Loki features a hot swappable battery inside of a single hull design along with a CO2 cartridge actuator system.

Key Stats

Dry Weight: 32.673 lbs
Dimensions: 1.58' x 1.44' x 1.71'
Max Speed: 0.50 m/s
Run Time: 1 hour
Power: 400W

Features:

•    Dual Inertial Sensor Fusion
•    6 Degrees of Freedom
•    CO2 Pneumatically Fired Torpedoes
•    Altimeter Location Tracking
•    Acoustic Communication with Thor
•    Touch Sensor on Forward Manipulator

2015 Argo


argo

CUAUV is proud to present Argo, its 2015 vehicle. Argo improves upon its predecessor in every aspect of its development, with more flexible electrical systems, enhanced user interfaces, and new double hull design to decrease overall size and weight.


2015 AUVSI RoboSub Competition Video

Key Stats

Dry Weight: 85lbs
Dimensions: 46"L x 23"W x 11"H
Max Speed: 1.0m/s
Run Time: 2 hours
Power: 2000W

Features:

Pneumatic active ballast system
Custom brushless thrusters
Custom acoustic modem for communication between the two vehicles
Blueview P900-45 imaging sonar
Full PCB backplane utilizing PCIe
Set of two vectored thrusters

2014 Gemini

1st Place at RoboSub
gemini

Gemini is CUAUV's 2013-2014 vehicle, a joint competition and research vehicle. The design focuses on reducing the weight of the vehicle platform while maintaining full competition capabilities, ease of integration and use, and improved control properties. The main improvements include stronger frame structures and pressure vessels, a streamlined electronics system, improved sensor suite, and improved vision algorithms.


2014 AUVSI RoboSub Competition Video

Key stats:

Depth rating: 50 ft (acrylic hull)
Max speed: 0.6 m/s
Weight: 70 lbs
Overall Dimensions: 41"L x 23"W x 18"H
Run time: 2.0 hours

Sensors:

Teledyne RDI Explorer Doppler Velocity Log
Temperature sensor
Custom-built hydrophones
IDS uEye downward camera
AVT Guppy forward camera
Custom-built IMU
LORD Microstrain 3DM-GX1 IMU
LORD Microstrain 3DM-GX4-25 IMU
Depth sensor
Internal pressure sensor
PNI Trax AHRS Module

Features:

Cantilever rack system
Dual hull
Main pressure vessel integrated forward cameras
Compact form factor
Easily accessible ethernet tether
Reliable power system
Hot swappable battery pods
8 thrusters for 6 degree of freedom control
Redundant main sealing system
Wet-mate tether
SEACON underwater connectors
Plug and Play serial
Electronics backpanel
Vacuum-sealed hull

2013 Ragnarök

1st Place at RoboSub
ragnarok

Ragnarök is the CUAUV 2012-2013 vehicle, a joint competition and research vehicle. The design focuses on reducing the weight of the vehicle platform while maintaining full competition capabilities, ease of integration and use, control properties, and backwards compatibility. The main improvements include stronger frame structures and pressure vessels, a streamlined electronics system, improved sensor suite, and improved vision algorithms.


2013 AUVSI RoboSub Competition Video

Key stats:

Depth rating: 50 ft (acrylic hull)
Max speed: 0.6 m/s
Weight: 77 lbs
Overall Dimensions: 39"L x 22"W x 21"H
Run time: 1.5 hours

Sensors:

Teledyne RDI Explorer Doppler Velocity Log
Temperature sensor
Custom-built hydrophones
AVT Guppy downward camera
AVT Guppy forward camera
Custom-built IMU
3DM-GX1 IMU
Depth sensor
Internal pressure sensor
Sparton GEDC-6 Gyro-Enhanced Digital Compass
Trax AHRS Module

Features:

Cantilever rack system
Main pressure vessel integrated cameras
Compact form factor
Easily accessible ethernet tether
Reliable power system
Hot swappable battery pods
Strafing thrusters
Redundant main sealing system Wet-mate tether
SEACON underwater connectors
Plug and Play serial
Vacuum-sealed hull

2012 Killick

1st Place at RoboSub
killick

Killick is the CUAUV 2011-2012 vehicle, a joint competition and research vehicle. The design focuses on reducing the size and weight of the vehicle platform while maintaining full competition capabilities and control properties. The main improvements include stronger frame structures and pressure vessels, a streamlined electronics system, improved sensor suite, and improved vision algorithms.


2012 AUVSI RoboSub Competition Video

Key stats:

Depth rating: 50 ft (acrylic hull), 250 ft (aluminum hull)
Max speed: 1.4 Knots
Weight: 75 lbs
Overall Dimensions: 31" L x 21" W x 19" H
Run time: 1.5 hours

Sensors:

Doppler Velocity Log
Temperature sensor
Custom-built hydrophones
AVT Guppy downward camera
AVT Guppy forward camera
Custom-built IMU
3DM-GX1 IMU
Depth sensor
Internal pressure sensor
Sparton GEDC-6 Gyro-Enhanced Digital Compass

Features:

Cantilever rack system
Integrated cameras
Compact form factor
Both Ethernet and Fiber Optic tethers
Reliable power system
Hot swappable battery pods
Strafing thrusters
Redundant main sealing system
Wet-mate tether
SEACON underwater connectors
Plug and Play serial
Vacuum-sealed hull

2011 Drekar

2nd Place at RoboSub
drekar

Drekar is the CUAUV 2010-2011 vehicle, a joint competition and research vehicle. The design focuses on reducing the size and weight of the vehicle platform while maintaining full competition capabilities and control properties. The main improvements include stronger frame structures and pressure vessels, a streamlined electronics system, improved sensor suite, and improved vision algorithms.


2011 AUVSI RoboSub Competition Video

Key stats:

Depth rating: 100 ft (theoretical)
Max speed: 1.4 Knots
Weight: 85 lbs
Overall Dimensions: 42" L x 28" W x 20" H
Run time: 1.5 hours

Sensors:

Doppler Velocity Log
Temperature sensor
Custom-built hydrophones
AVT Guppy downward camera
AVT Guppy forward camera
Custom-built IMU
3DM-GX1 IMU
Depth sensor

Features:

Cantilever rack system
External cameras
Expandable payload
Custom underwater connectors
Both Ethernet and Fiber Optic tethers
Reliable power system
Hot swappable battery pods
Strafing thrusters
Reliable sealing system
Wet-mate tether
SEACON underwater connectors
Plug and Play serial

2010 Tachyon

1st Place at RoboSub
tachyon

Tachyon is CUAUV’s 2009-2010 vehicle, designed using much of what we learned from our previous vehicles with many new innovations that improve vehicle performance. Tachyon was designed to be a joint competition and research vehicle, with an expanded payload area and better control characteristics.


CUAUV Tachyon Autonomous Mission Run - 6/10/2010

Key stats:

Depth rating: 100 or 200 ft (dependent on hull)
Max speed: 1.5 Knots
Weight: 92 lbs
Length: 44 inches
Run time: 3 or 6 hours

Sensors:

Doppler Velocity Log
Temperature sensor
Custom passive acoustic sensor (hydrophone)
AVT Guppy downward camera
AVT Guppy forward camera
TCM5 Compass
OceanServer Compass
3DM-GX1 IMU
Depth sensor

Features:

Cantilever rack system
External cameras
Expandable payload
Custom underwater connectors
Both Ethernet and Fiber Optic tethers
Reliable power system
Hot swappable battery pods
Exchangeable competition and depth hulls
Strafing thrusters
Reliable sealing system
Superstructure to improve vehicle safety
Wet mate-able tether
Seacon connectors
Plug and Play serial
Expanded payload

2009 Nova

1st Place at RoboSub
nova

Nova is the next generation of CUAUV submarines. Expandable and capable of both close in maneuvering and long range sensing missions, it is a transition vehicle between competition missions and CUAUV's new research based open water focus.


Nova Run 7/17/09

Key stats:

Depth rating: 100 or 500 ft
Max speed: 1.2 Knots
Weight: 35 kg (78 lb)
Length: 50 inches
Run time: 2-4 hours

Sensors:

Doppler Velocity Log
Temperature sensor
Custom passive acoustic sensor (hydrophone)
Guppy downward facing camera
Logitech forward facing camera
Forward-facing Tritech Altimeter
TCM2 compass
3DMG-X1 sensor
Depth sensor
GPS system (for surface positioning)

Features:

Cantilever rack system
External cameras
Expandable payload
Custom underwater connectors
Both Ethernet and Fiber Optic tethers
Reliable power system
Hot swappable battery pods
Exchangeable competition and deeper water hulls
Strafing thrusters
Reliable sealing system
Superstructure to improve vehicle safety
Wet mate-able tether
Seacon connectors

2008 Triton


triton

The Triton AUV is CUAUV's 2007-2008 littoral hovering AUV. The new vehicle borrows heavily from the successful elements of the Proteus AUV, as well as certain elements from the Seamonkey class vehicle. The main electronics are contained in a single clear acrylic hull. To improve maintainability the hull may be removed from the electronics rack without disconnecting any of the electronics. The endcaps are made out of aluminum for superior thermal performance.


Triton Pool Test

2007 Proteus


proteus

CUAUV’s 2007 competition vehicle is named Proteus. Proteus is the mythological son of the Greek god of the sea, Poseidon, also commonly referred to as the old man of the sea. He is famous for his ability to change shape – a perfect symbol for our new vehicle which has morphed from the SeaMonkey into a sleek and even more reliable new model. Proteus is a 40" long x 20" tall vehicle that will have the ability to autonomously complete tasks under water. The vehicle is smaller, lighter, faster, and more efficient than any of the team’s previous vehicles. The new design is able to balance functionality and performance. The two bottom pods are designed as battery hulls that can easily be removed from the vehicle, even while the vehicle is up and running. This new battery design will not interrupt onboard electronic operations, which will allow the team to remove one battery while the vehicle runs on the other.


CUAUV Proteus in Finals at AUV Competition

2006 Seamonkey


seamonkey

Seamonkey was CUAUV's 5th generation vehicle. To date, it was the most versatile vehicle and well suited as a platform for developmental research and lake deployment. The central frame provides easy access for mounting sensors and any other payload. The larger top hull houses the vehicle electronics, while the bottom hull contains the vehicle's batteries and motor controllers. The combination of relatively high buoyancy on the top hull and greater weight on the bottom hull gives the vehicle an excellent static stability on the pitch and roll axes.