We present a MATLAB toolbox that interfaces directly with the Intelitek Scorbotone of the most widely used educational articulated robots. The toolbox provides a userfriendly, open source method of accessing the robot's functionality from within MATLAB's powerful integrated development environment, which already includes numerical solvers, image processing routines, neural network libraries, and control system design tools. We describe the development process and the toolbox's features; and illustrate its capabilities with some projects from our own Introductory Robotics class where it was beta tested. A student opinion survey indicated that the toolbox was well received, but suggests its stability could be improved.

Abstmct-Testing and algorithm development are addressed for the guidance system of a low-cost (disposable) miniature autonomous underwater vehicle. The requirements for low-cost and small size systems typically necessitate the use of low-performance sensors. In this work, we address the limitations of low-performance inertial sensors.Mechanized calibration routines are developed to compensate for high drift rates in gyro calibration coefficients, and compassjgyro stabiliiation methods are investigated to address susceptibility of the compass to magnetic interference.

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Abstmct-Platoons of cooperating autonomous underwater vehicles have the potential to contribute significantly to scientific investigations in the marine environment. Platoons of vehicles can survey large areas, adaptively track and measure timevarying processes such as tidal fronts and algal blooms, and they are robust to single-point failures. We have developed a prototype miniature low-cost autonomous underwater vehicle to address the platform requirements of these missions. The vehicle is designed as a test-bed for the development of distributed control and estimation algorithms, and for experiments in advanced navigation and control.