<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.Silvertail}
\wikidoc{auth=supun@mit.edu}

%====================================================================
\section*{Silvertail - A new class of multi-purpose \&amp; low-cost AUVs}
%====================================================================

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

\noindent
The underwater sensing capability can be significantly advanced by 
using multiple UUVs that work together in a collaborative autonomy 
paradigm, each serving as a node in a large sensory array. With this 
goal in mind, the Silvertail AUV was developed as a multi-purpose, 
reliable and yet extremely low-cost platform. This novel AUV class 
is powerful in software, and also very easy to manufacture.


\subsection*{AUV mode}

Silvertail is a unique AUV design that does not require control 
surfaces. This design is based on three thrusters located at the 
stern of the vehicle (tri-thruster configuration), which provide 
forward propulsion as well as heading, pitch and depth control. The 
vehicle is extendable with additional payload modules. Due to the 
simplicity of the design, it is extremely easy to manufacture in a 
short period of time (within 2-3 days) using simple tools and basic 
skills, without requiring specialized expertise or facilities.

\subsection*{Glider mode}

A standalone low-cost buoyancy engine is being developed to convert 
the vehicle to a hybrid glider. The buoyancy engine is integrated as 
a payload module, which can control buoyancy and vehicle pitch angle 
with commands provided by the main vehicle computer. 


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

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

  \var{Size}: &amp; 1.0 m length (extendable), 0.12 m diameter \\ \hline
  \var{Sensors}: &amp; GPS, IMU, external pressure/depth and temperature
  sensor, wifi, GSM, and tetrahedral 
  hydrophone array with acoustic data acquisition system \\ \hline
  \var{Developers}: &amp; Nicholas Rypkema and Supun Randeni  \\ \hline
  \var{Software:} &amp; Frontseat System: m\'{e}ta-silvertail \\
                  &amp; Autonomy System: MOOS-IvP \\
                  &amp; Navigation System: HydroMAN \\\hline
  \var{Projects:} &amp; This is currently a non-funded hobby project\\ \hline
\end{longtable}
\normalsize

%====================================================================
\subsubsection*{Videos}

First in-water test: \urlx{https://youtu.be/Q9XdPxz9AFQ}

\noindent Second in-water test: \urlx{https://youtu.be/7l5uMhcTgv4}


% ====================================================================
% \section*{Recent Publications}
% \input{citations.tex}
% \wikinoref

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

\end{document}





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