Considering ISiMI's basic design concept, we formulated its design goals as follows: 1. Downsizing: Its weight had to be 20-30 kg, including payloads for additional sensors or instruments. This scale can be handled by one or two people.
2. Operating speed and duration: The vehicle must have been able to operate for more than 3 h at a speed greater than two knots.
3. Hull shape: The hull had to have an experimentally known shape that would make it convenient to estimate the hydrodynamic coefficients of a mathematical model and that would minimize the drag force to increase the efficiency of the AUV's thrust. It also had to have space for additional instruments and to endure a depth rating of more than 20m.
4. Computing and processing power: The AUV's embedded computer system had to have enough computing power to process navigational and control algorithms and to gather data.
5. Reliability and compatibility: The system had to employ proven equipment to minimize the faults of subsystems and to increase the reliability of the entire system. The equipment had to be chosen from among the vendor-supplied instruments continuously and stably.
6. Extendability: The AUV had to have the capacity to have additional functions with minimal changes in the basic design of its mechanical and electrical systems.
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