RDI Doppler Velocity Log

The primary navigational sensor on the Seamonkey, the doppler velocity log (DVL) provides important velocity information. Using the doppler information from four sonar beams, the device can determine the direction and speed that the vehicle is moving in.

Microstrain 3DM-G IMU

One of the few sensors housed inside the hull, this inertial measurement unit (IMU) provides valuable acceleration and orientation data to enable vehicle control.

Tritech altimeters

Two of these ranging sonars are pointed downwards and forwards. They provide the vehicle with information on how close it is to the bottom and forward surfaces. They allow the vehicle to avoid obstructions in those directions.

2 Logitec USB webcams

These cameras are sealed within a custom enclosure with a sapphire viewport. Their images are streamed to the onboard computer for use in machine vision processing. The vehicle is capable of rudimentary shape and color identification.

Custom Hydrophone

This passive acoustic array is specially built for the competition. Designed to operate in the 20-40kHz range, the device detects and locates sounds underwater. Signals are first picked up by piezo-ceramic elements from APC electronics. A custom circuit board performs amplification, filtering, and signal identification. The information is then relayed to the computer.