July 13, 2007 3:59 AM PDT
The AUV-207 Stingray stands ready for duty. The yellow Pelican cases serve as the pressure hulls, and because they are positively buoyant, they were placed high on the frame; the most negatively buoyant component, the Doppler Velocity Log (an RD Instruments 1200 KHz Workhorse Navigator), is placed below. That design was chosen to provide the greatest roll stability, but the sub's pitch still has to be controlled when it changes depth.
The assembly carries, among other things, two cameras to assist in the Stingray's computer vision: a forward-looking CMU-2 camera (the white tube at right) and a downward-looking DVT Legend 542C.
Photo by Jim Graham/Project Stingray/U.S. Naval Academy
