Successful Onboard Systems Integration/Validation of Project X+

AUV Prototype # 4 during summer of 2026:​

• AUV Imaging System:

AUV Imaging System features the AKASO EK7000 Pro Underwater Video Camera expertly mounted onto the AUV hull. This system has successfully verified recording functionality during both controlled pool and open-water trials. It captures continuous video datasets that are ideal post-dive mission reviews, ensuring comprehensive analysis and insights.

• AUV Control and Processing Unit:

The AUV Control and Processing Unit is built around the Arduino Uno R4 Minima , serving as the primary dive computer for all onboard systems. A closed-loop PID pitch control algorithm as well as a PID heading algorithm has been implemented and validated through pool dive pitch-response and heading-response testing. Additionally, a 4-channel relay shield has been installed to independently control the fore and aft thrusters. To enhance mission data capture, the onboard logging has been expanded with the integration of an Adafruit MicroSD Card module.

• AUV Current Software Data Logging Parameters:

The AUV Current Software captures essential onboard data including Time and Delta Time with millisecond resolution, Temperature, Pitch, Roll, and Depth. It also logs the Fore and Aft Thruster PWM Output, providing insights into propulsion performance, along with PID Correction Output for thrust adjustments. This comprehensive data logging enables effective monitoring and analysis of the AUV's operational parameters.

• AUV Data Post-Processing using DataDesk Statistical Software Suite:

Data Post-Processing with DataDesk Statistical Software Suite simplifies the analysis of MicroSD files through automated parsing. It efficiently generates multi-variable plots, tabular outputs, and comprehensive statistical summaries. This powerful tool is essential for the quantitative validation of PID control and thrust response, ensuring accurate and reliable data interpretation.

• AUV Sensors and System Activation:

The AUV’s sensor suite includes the DFRobot IP68 ultrasonic ranging sensor, integrated through an analog input to the Arduino microcontroller. This sensor has been validated through both pool testing and open-water trials.  System activation is controlled by an external magnetic arming switch that closes a microswitch when the magnet is removed, powering all onboard subsystems.  Double hull water integrity verified, no leaks detected.

• AUV Summer 2026 Testing:

The Project X+ Prototype # 4 AUV testing has begun.  The AUV's box maneuver starts out well on the bottom, but the AUV slowly begins moving toward the surface due to hydrodynamic lift.  Although we have a minor issue with the box maneuver, all of the other test objectives are being met.  Software modifications are taking place to fix this issue before the next test mission.