This paper describes the re-engineering process involved in converting a manually controlled deep-water access reconnaissance television (DART) into an autonomous underwater vehicle (AUV). Such a conversion required the rebuilding of the DART's motors, redesigning the motor drivers, the installation of a new camera system, and a complete redesign of the electronics including the implementation of a modern computer motherboard. Mechanical modifications were necessary to install a set of underwater lights, and also to improve the portability and serviceability of the vehicle.
CarnegieD. A.Towards a fleet of autonomous mobile mechatrons. In Proceedings of the International Federation of Automatic Control Second Conference on Mechatronics Systems, Berkeley, California, 9–11 December 2002, pp. 673–678.
WilliamsS. B.NewmanP.DissanayakeM. W. M. G.RosenblattJ.Durrant-WhyteH. F.A decoupled, distributed AUV control architecture. In Proceedings of the 31st International Symposium on Robotics, Montreal, Canada, 2000.
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KingJ.CarnegieD.Towards an autonomous submersible remote operating vehicle. In Proceedings of the Eighth New Zealand Electronics Conference, New Plymouth, New Zealand, 2001, pp. 107–112.
