Integration of NAWCAD's MULIS into a REMUS 600 AUV

I wrote MOOS, C++, and Python programs utilizing UDP communication to guide a REMUS 600 AUV and signal various elements of NAWCAD's laser imaging system between configurable waypoints. This project culminated in a trip to the Naval Air Station at Patuxent River where we conducted field tests aboard the R/V Rachel Carson.

NAWCAD laid targets out along the bottom of the Chesapeake Bay, and my programs guided the AUV back and forth along these targets. It signaled the imaging system to start and stop its data collection as it traversed across the targets. My code allowed me to configure various elements of this test in real time to ensure its success. I could signal each element of the laser imaging system in case of failure and could adjust the length, angle, and position of the data collection leg in order to find and capture as many targets as possible.

We conducted this field test every day for one week, weather permitting. I also helped physically integrate MULIS into the REMUS before conducting these tests, and pack and ship everything back to Santa Barbara when they had been completed.