Underwater Vehicle Detail 

Vehicle Name:	Micro-seeker
Company:	Hylands Underwater Vehicles
Weight:	1 pounds
Speed:	1 knots
Range:	1 nautical miles
Payload:	Sonar  Video  Scientific  Accoustic Positioning   Inertial Positioning  Doppler/Velocity  Other
Mission:	Survey  Search  Research  Academic  Military  Other
Description:	MicroSeeker Smalltalk As I've said elsewhere on these pages, I've been doing Smalltalk since 1987, so its kind of natural that I want to do everything I can in Smalltalk. MicroSeeker will be controlled by Smalltalk. There are two distinct systems in MicroSeeker. The first is the low-level, real-time data acquisition and control system. This is run by a network of PIC microcontrollers. They originally ran PIC/Smalltalk, a language I wrote, but I decided to concentrate more on the AUV end of things and less on supporting a new compiler, so I use CCS C now. The second system is the high-level autonomous control system. That level runs on a Dell Axim PDA, and it is written in Squeak. I have a fairly decent working version of the Autonomous Controller code, and have built a simulator to test it with.