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Real-Time Control Architecture for SAUVIM

Real-Time Control Architecture for SAUVIM. T.W.Kim, J.Yuh, S.K.Choi Autonomous Systems Lab. University of Hawaii, U.S.A. Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM). Mechanical Structure. Al 6061 5.8 m L ? 2.1 m W ? 1.8m H 6,500 kg (air), -2 kg (wet)

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Real-Time Control Architecture for SAUVIM