NanoSeeker

NanoSeeker is a very small, autonomous underwater vehicle.

Almost all of the structural parts were 3D printed on a Dimension uPrint, including the propeller. It has:

• AVR ATmega328 microcontroller
• Bluetooth module as a serial port
• Honeywell HMC6343 i2c 3-axis compass, with integrated 3-axis accelerometer
• Provisions for a very small, SPI pressure sensor (not installed at this time)
• Custom made linear actuators for dive plane and rudder, using pager gearmotors
• 2 Lipo batteries wired in series (7.4 volts)
• Magnetic on/off switch

I've ordered a new tube for it, in clear acrylic, so it should look pretty cool once that is done.

I built an early version of this sub before I had a 3D printer, but it didn't work out very well...

Here's what some of the parts look like, hot out of the printer:

The dark globby stuff is support material from the printer, which dissolves away when you soak it in a special solution.