We have developed Mako, our first AUV with four independetly controlled motors, two for direction and two for active diving, The AUV is slightly buoyant and has an automatic righting effect because of its low center of mass. The AUV is controlled by an EyeBot controller, dirving four motors and interfacing to a velocimeter and four echo sounders. Also integrated is a mini-PC board solely for on-board image processing using a web-cam. Mini-Pc and EyeBot are connected via a serial interface.
Bluetooth, WLAN and Inreared are used for communicating to a host station once the AUV has surfaced. Submerged operation is fully autonomous.
TPU 0-7 Motor speed and direction for motors A, B, C, D TPU 14 Infrared remote control ------- DO 4 . ------- DI 0-7 compass ------ Serial1 User interface and interface to camera mini-PC Serial2 BlueTooth wireless interface