Nessie IV is a hover-capable inspection AUV that can be used in multiple operation modes. Designed primarily to participate in the annual SAUC-E AUV competition and also for scientific experimentation and general sub-sea research.
The vehicle is made up of two 22cm diameter cylindrical aluminium hulls surrounded by a Delrin polymer frame. This cage serves as a mounting point for sensors, protects the contained devices from impact, and keeps the thrusters safely out of the way of human divers. One hull, dubbed the motor hull, houses batteries and H-bridge controllers to drive the thrusters. The other, the PC hull, contains the embedded computers, interfacing and sensing electronics and the batteries to power these.