<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">\documentclass[onecolumn,letterpaper,11pt]{article}

%===================================================================
\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_lab_format}
\nobibliography*               % tell latex no references at the end
%===================================================================

\begin{document}

\wikidoc{file=Robot.Morpheus}
\wikidoc{auth=mikerb@mit.edu}

%====================================================================
\section*{Morpheus - A Highly Maneuverable A-Size UUV}
%====================================================================

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.9\textwidth]{figures/morpheus.png}
\label{fig_cover}
\end{figure}

\noindent
Morpheus is an A-Size unmanned underwater vehicle (UUV), based on the
MK-39 EMATT hull. MIT has created new internal electronics,
retractable dorsal fins, modified servo-driven tail-cone and optimized
nose-cone, together with a new software stack to create a highly
maneuverable platform for a more general mission set.  Morpheus has a
unique capability to dynamically vary the directional stability of the
vehicle using its tuna-inspired retractable dorsal fins. This allows
Morpheus to travel straight with higher stability, and destabilize the
body during maneuvers to achive extreme turning rates

%====================================================================
%\section*{Quick Facts}
%====================================================================

\vspace{0.15in}
\footnotesize
\renewcommand{\arraystretch}{1.15}
\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Size}: &amp; 0.9 m length, 0.12 m diameter \\ \hline
  \var{Sensors}: &amp; GPS, IMU, external pressure/depth and temperature
  sensor, internal pressure sensor, wifi, GSM, and tetrahedral 
  hydrophone array with acoustic data acquisition system \\ \hline
  \var{Top Speed}: &amp; 4.0 meters/sec \\ \hline
  \var{Top turn rate}: &amp; 20 - 30 deg/sec \\ \hline
  \var{Software:} &amp; Autonomy System: MOOS-IvP \\
                  &amp; Navigation System: HydroMAN, piUSBL \\
                  &amp; Frontseat software:  moos-ivp-frontseat \\ \hline
  \var{Projects:} &amp; \urlx{https://oceanai.mit.edu/pavlab/proj/morpheus} \\
                  &amp; \urlx{https://oceanai.mit.edu/pavlab/proj/perseus}  \\ \hline
\end{longtable}
\normalsize

%====================================================================
\section*{Recent Publications}

\input{citations.tex}
\wikinoref

\newpage
\bibliography{biblio.bib}
\bibliographystyle{plain}

\end{document}





</pre></body></html>