Converting a deep-water access reconnaissance television into an autonomous underwater Tvehicle

This paper describes the re-engineering process involved in converting a manually controlled deep-water access reconnaissance television (DART) into an autonomous underwater vehicle (AUV). Such a conversion required the rebuilding of the DARTʹs motors, redesigning the motor drivers, the installation of a new camera system, and a complete redesign of the electronics including the implementation of a modern computer motherboard. Mechanical modifications were necessary to install a set of underwater lights, and also to improve the portability and serviceability of the vehicle