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\begin{document}

\wikidoc{file=Proj.Spurdog}
\wikidoc{auth=rturrisi@mit.edu}

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\section*{The MIT Spurdog Autonomous Underwater Vehicle (AUV)}
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\vspace{0.1in}
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.75\textwidth]{figures/spurdog.png}
\label{fig_cover}
\end{figure}

\vspace{0.1in}
\noindent
The MIT Spurdog Autonomous Underwater Vehicle (AUV) is a new platform
developed to support AUV research and education, motivated by reducing
risk via maintaining low costs, low production time, and being highly
modular. The core vehicle costs under \$3,000 USD and employs a modular
architecture using commercially available components and custom parts
that can be produced through several manufacturing methods (SLA
printing, urethane casting, injection molding, and CNC
manufacturing). This manufacturing flexibility allows the design to be
adapted for different research requirements or operating environments
while maintaining its basic architecture.

\vspace{0.1in}
\noindent
A key innovation of the Spurdog is its Sequential Coupling System
(SCS), which facilitates the integration of payload modules through
standardized mechanical, power, and communication interfaces. This
approach allows researchers to develop payload modules independently
without requiring modifications to the core vehicle systems. The
vehicle includes optional 8020 rails for payload mounting and
ballasting, a removable mast, and interchangeable fins that permit
adjustment of control authority without accessing the pressure
vessel. Intermediate flooded sections enable simple routing of cables
outside and around the vehicle while preserving independent pressure
chambers to reduce operational risk and improve chances of recovery.

\vspace{0.1in}
\noindent
The Spurdog's patent-pending Trident aft section provides three-axis
control and houses critical vehicle interfaces for operators, thus
enabling truly sequentially coupled payloads. With its â€œA-sizeâ€
compatible fins, the Spurdog can be configured to fit within a 4.5"
outer diameter profile, making it suitable for standard deployment
methods. The modular design supports quick payload changes and
integration in the field to facilitate testing and
experimentation. Integrating a payload is reduced to two connectors,
six screws, and software configuration through open and templated
interfaces (optional).

\vspace{0.1in}
\noindent
The platform has been developed and tested to support research in
multi-agent cross-domain autonomy and underwater swarms, while also
enabling novel and critical research in navigation and control. The
Spurdog design and documentation is planned to be made available
through open-source licensing for academic and research institutions
starting in March 2025. Researchers interested in learning more about
the platform can contact the development team via email for additional
information.

\vspace{0.1in}
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.9\textwidth]{figures/spurdog2.png}
  \label{fig_spurdog2}
  \caption{Spurdog AUV configured with a variety of payload modules
    (i.e. dedicated WHOI MicroModem regular payload, and two different
    terminating payloads).}
\end{figure}

\vspace{0.1in}
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.9\textwidth]{figures/spurdog3.png}
  \label{fig_spurdog3}
  \caption{Intermediate sequential coupling flanges.}
\end{figure}


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%\section*{Quick Facts}
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\footnotesize
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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; In-house funded, and Saab \\ \hline
  \var{Max Speed} : &amp; 3.5 m/s (Conservative, Empirically Estimated) \\ \hline
  \var{People}: &amp; Ray Turrisi (Lead), Haojing Huang, Filip Stromstad, John Morrison,
  Alan Papalia, John Leonard, Mike Benjamin \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, ROS2  \\ \hline  
\end{longtable}
\normalsize


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\section*{Recent Publications}

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