Development of a low cost instructional platform for submersible design

The use of hands-on learning experience to teach robotics design techniques is well established. In light of this, a small autonomous underwater vehicle (AUV) for use in the education of undergraduate students has been developed. The system builds on the LEGO NXT Mindstorms kit, maintaining interconnectivity between custom components and the NXT system, to provide an easily reconfigurable platform. The AUV illustrates the design process as well as many of the concepts required in submersible design such as buoyancy, trimming, passive stability, control, seals and propulsion methods. By keeping the cost of the system low, the ability to use the AUV for purely instructional purposes becomes feasible.