Summer 2026 Testing Campaign - AUV Project X+ Proto # 4 :

• ​This year focused on integrating and testing the port and starboard horizontal thrusters, Adafruit 9-DOF IMU, and DFRobot IP68 underwater ultrasonic sensor.

Multiple controlled pool dives were conducted to verify system integration, PID response, navigation, and sensor performance.  An open-water validation was also completed in Long Island Sound at depths of 10-12 feet, successfully demonstrating control, data logging, video, and depth monitoring under real-world hydrodynamic conditions.  The AUV's box maneuver performed well initially at the bottom, it experienced a gradual ascent toward the surface due to hydrodynamic lift.  Although the aggressive testing schedule prevented integration of the underwater ultrasonic sensor for autonomous bottom following, most 2026 test objectives were successfully achieved.

See below: the following three videos show (1) pool testing, (2) open-water testing, and

(3) pool testing with hydrodynamic lift compensated during box maneuver.