The MIT ORCA I

The MIT entry is the ORCA-1, a computer-controlled submarine. It is five feet long, can develop 34 pounds of thrust, and has a top cruising speed of 2 knots. It has a full array of navigational sensors, including a water pressure depth sensor, a sonar altimeter, a 3-axis accelerometer, a 3-axis rate gyroscope, and a magnetic compass. It is controlled by an onboard computer running Linux, and has a 900 MHz spread-spectrum radio tether. For technical details, see our Journal Paper in Adobe PDF format.