Review of Autonomous Undersea Vehicle (AUV) Developments 
Vehicle science sensors, sampled at the LBL interval. These include three axis 
magnetometer (Develco 9200C-01), Seabird conductivity and temperature sensors, and 
an optical backscatter sensor (Seapoint Turbidity Meter). 
Vehicle attitude (pitch, roll, heading), depth, and altitude at the LBL cycle interval or at 
higher rates up to two samples/second. Pitch and roll are measured with inclinometers; 
heading is a composite estimate obtained from a flux gate compass and a rate gyro. 
Depth is measured with a Paroscientific pressure sensor. Altitude is obtained from the 
acoustic altimeter, which points forward 30 degrees and has a beamwidth of 
approximately 15 degrees. 
Video snapshots: ABE can take simultaneous monochrome stereo pairs at intervals of 10 
seconds (currently this rate is limited by strobe recharge time). Each camera provides an 
image resolution of 576 x 768 pixels with a dynamic range of 8 bits. ABE can provide 
about 2500 image pairs on a single dive. These cameras can be oriented to optimize 
stereo or panoramic imaging. The images can be viewed and processed with a variety of 
commercial imaging software packages (i.e., PhotoShop or PhotoPaint) for PCs, 
Macintosh and Sun computers. 
Engineering data from the vehicle are also available if desired. These data include 
commanded thrust levels, measured propeller speeds, battery voltage and power 
consumption. 
Imagenix 675-kHz scanning sonar for cross-track bathymetry out to ranges of 
approximately 40 meters. 
Sensors in development include: 
Doppler navigation and current profiling: A 1.2-MHz RD Instruments doppler was ordered 
to operate both as a bottom lock navigator and to determine the 3-D current profile 
beneath or above the vehicle. 
Improved strobe: This will provide an option for image rates of 5 seconds and improved 
beam pattern. 
Higher image capacity: The hard drives for the image data could be swapped out for 
higher capacity if needed. 
New cameras: ABE's video system can be configured for a variety of commercially 
available cameras, both monochrome and color. 
ABE specifications are detailed in table 10. 
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