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\wikidoc{file=Proj.SeaScout}
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\section*{The MIT Sea Scout Autonomous Underwater Vehicle (AUV)}
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The MIT Sea Scout Autonomous Underwater Vehicle (AUV) is an autonomous
system aimed at accelerating AUV research and education.  It has a
simple design which is grounded in commercially available low-cost
components and custom components which support multiple modes of
manufacturing (i.e. SLA printing, urethane casting, injection molding,
and CNC subtractive manufacturing). With this, a common recipe and
supply chain can produce similar vehicles which can proportionally
scale meet the needs of more advanced research objectives, challenging
environments, or budgetary requirements, without design changes. In
addition to this, it features a modular nosecone and sequential
coupling system such that the core vehicle can readily be extended
upon a simple communication and power distribution bus which is built
into simple coupling flanges. Any number of payloads can be combined
once developed independently under the communication and power
distribution schema, with all other practical considerations.

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The hull and couplers feature optional 8020 rails to mount payloads or
support in ballasting, a removable mast, and swappable/adjustable
fins. With this, the vehicle can uniquely reach an outer diameter less
than 4.5" OD, with the three-axis Trident series of tailcone
designs. Swappable fins allow users to adjust control authority of the
vehicle to improve maneuverability or maintain a vehicle in which the
fins reside within the 4.5" OD profile, without opening the vehicle.

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Each payload can be pulled from a shelf and integrated into a vehicle
minutes before a mission. A user can receive four connectors, two
couplers, and include any payload which supports their research
between, without needing to revisit AUV design.  Future work with this
platform includes, but is not limited to; AUV swarming autonomy, AUV
networks, adaptive controllers, and cross-media collaboration between
UAV's, USV's, and AUV's.



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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Dimensions (min)(LxD)}: &amp; 38" x 4.5" \\ \hline 
  \var{Weight (min)}: &amp; 18 lbs \\ \hline 
  \var{Depth rating (est)}: &amp; 150' \\ \hline 
  \var{Frontseat computer}: &amp; Raspberry Pi 4 + Navigator Flight Controller \\ \hline 
  \var{Thruster}: &amp; M200 Motor with custom propeller  \\ \hline 
  \var{Status}: &amp; Ongoing since Jan 2024 \\ \hline
  \var{Sponsor(s)}: &amp; Saab \\ \hline
  \var{People}: &amp; Ray Turrisi (Lead), Sam Huang, Mike Benjamin (PI) \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, ROS2  \\ \hline  
\end{longtable}
\normalsize


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%\section*{Recent Publications}

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