<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "http://www.web3d.org/specifications/x3d-3.0.dtd">
<X3D profile='Immersive' version='3.0 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' http://www.web3d.org/specifications/x3d-3.0.xsd '>
<head>
<meta name='titlecontent='CetusClosed.x3d'/>
<meta name='creatorcontent='Don Brutzman NPS and Gary Trimble Lockheed-Martin-Perry'/>
<meta name='createdcontent='6 September 2000'/>
<meta name='modifiedcontent='14 January 2014'/>
<meta name='revisedBycontent='Jeffrey Weekley'/>
<meta name='descriptioncontent='CETUS II autonomous underwater vehicle (AUV).'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/CetusClosed.x3d '/>
<meta name='Imagecontent='CetusBow.png'/>
<meta name='Imagecontent='CetusStarboardSide.png'/>
<meta name='Imagecontent='CetusStern.png'/>
<meta name='referencecontent='CetusFlyerMarch2001.pdf'/>
<meta name='referencecontent=' http://perrymare.com '/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/CetusClosed.x3d '/>
<meta name='generatorcontent='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!-- -->
<Scene>
<Viewpoint description='Cetus II starboard sideorientation='1 0 0 -0.2position='0 .5 2'/>
<Viewpoint description='Cetus II from behindorientation='0 1 0 -1.57position='-2.5 0.5 0'/>
<Transform rotation='1 0 0 0.2'>
<Viewpoint description='Cetus II port sideorientation='0 1 0 3.14position='0 0.5 -2'/>
</Transform>
<Viewpoint description='Cetus II from aheadorientation='0 1 0 1.57position='2.5 0.5 0'/>
<!-- Convert inches to meters (39.3" :: 1m) -->
<Transform scale='0.025445 0.025445 0.025445'>
<!-- Hull body. Gary says to streamline stern a bit more. -->
<Switch whichChoice='0'>
<!-- Hollow body -->
<Group>
<!-- stern section -->
<Shape>
<Extrusion creaseAngle='3.14crossSection='6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0scale='0.7 0.7 0.4 0.4 0.1 0.1spine='-18 0 0 -24 0 0 -27 0 0'/>
<Appearance DEF='InternationalOrange'>
<Material diffuseColor='1 0.5 0emissiveColor='0.5 0.25 0'/>
</Appearance>
</Shape>
<!-- center section - Switch 0 for Open; 1 for Closed hatch -->
<Switch whichChoice='1'>
<Shape>
<!-- Open -->
<Extrusion creaseAngle='1.5crossSection='-3 0 -3 -11 5 -11 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 5 11 -3 11 -3 0scale='0.4 0.4 0.8 0.8 0.95 0.95 1 1 0.9 0.9 0.7 0.7 0.4 0.4 0.1 0.1spine='27 0 0 21 0 0 16 0 0 0 0 0 -10 0 0 -18 0 0 -24 0 0 -27 0 0'/>
<Appearance USE='InternationalOrange'/>
</Shape>
<Shape>
<!-- Closed -->
<Extrusion creaseAngle='1.5crossSection='6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0scale='0.4 0.4 0.8 0.8 0.95 0.95 1 1 0.9 0.9 0.7 0.7 0.4 0.4 0.1 0.1spine='27 0 0 21 0 0 16 0 0 0 0 0 -10 0 0 -18 0 0 -24 0 0 -27 0 0'/>
<Appearance USE='InternationalOrange'/>
</Shape>
</Switch>
<!-- nose section -->
<Shape>
<Extrusion creaseAngle='3.14crossSection='6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0scale='0.4 0.4 0.8 0.8 0.95 0.95spine='27 0 0 21 0 0 16 0 0'/>
<Appearance USE='InternationalOrange'/>
</Shape>
</Group>
<!-- Solid body -->
<Shape>
<Extrusion creaseAngle='3.14crossSection='6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0scale='0.4 0.4 0.8 0.8 0.95 0.95 1 1 0.9 0.9 0.7 0.7 0.4 0.4 0.1 0.1spine='27 0 0 21 0 0 16 0 0 0 0 0 -10 0 0 -18 0 0 -24 0 0 -27 0 0'/>
<Appearance USE='InternationalOrange'/>
</Shape>
</Switch>
<!-- Stern planes -->
<Transform DEF='SternPlanestranslation='-22 0 0'>
<Shape>
<Box size='6 1.5 22'/>
<Appearance USE='InternationalOrange'/>
</Shape>
<Transform translation='0 0 11'>
<Shape DEF='Stabilizer'>
<Box size='6 3 1'/>
<Appearance USE='InternationalOrange'/>
</Shape>
</Transform>
<Transform translation='0 0 -11'>
<Shape USE='Stabilizer'/>
</Transform>
</Transform>
<!-- Forward vertical thrusters -->
<Transform translation='19 0 0'>
<Transform translation='0 0 8'>
<Shape DEF='ForwardThrusterCylinder'>
<Cylinder height='11radius='2'/>
<Appearance DEF='BlackAppearance'>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
</Shape>
</Transform>
<Transform translation='0 0 -8'>
<Shape USE='ForwardThrusterCylinder'/>
</Transform>
</Transform>
<!-- Aft vertical thruster -->
<Transform translation='-24 0 0'>
<Shape DEF='AftThrusterCylinder'>
<Cylinder height='7radius='2'/>
<Appearance USE='BlackAppearance'/>
</Shape>
</Transform>
<!-- Long-baseline sonar transponder -->
<Transform translation='-20 3.5 0'>
<Shape DEF='LongBaselineSonarTransponder'>
<Cylinder/>
<Appearance USE='BlackAppearance'/>
</Shape>
</Transform>
<!-- Propellers -->
<Transform translation='-27 0 0'>
<Transform scale='20 26 26translation='0 0 7'> </Transform>
<Transform scale='20 26 26translation='0 0 -7'>
<Inline USE='PropulsionThruster'/>
</Transform>
</Transform>
<!-- Payload section -->
<Switch whichChoice='-1'>
<Transform center='0 1 0rotation='0 0 1 -1.57translation='0 1 0'>
<Shape>
<Cylinder height='32radius='3.5'/>
<Appearance USE='BlackAppearance'/>
</Shape>
<Transform translation='1 0 6.5'>
<Shape DEF='Electronics1'>
<Cylinder height='32radius='2.5'/>
<Appearance USE='BlackAppearance'/>
</Shape>
</Transform>
<Transform translation='1 0 -6.5'>
<Shape USE='Electronics1'/>
</Transform>
</Transform>
</Switch>
</Transform>
</Scene>
</X3D>
<!--

Index for DEF nodes : AftThrusterCylinder, BlackAppearance, Electronics1, ForwardThrusterCylinder, InternationalOrange, LongBaselineSonarTransponder, PropulsionThruster, Stabilizer, SternPlanes

Index for Viewpoint images : Viewpoint_1, Viewpoint_2, Viewpoint_3, Viewpoint_4
-->

<!-- Color key: <X3dNode DEF='idName' field='value'/> matches <XmlElement DEF='idName' attribute='value'/>
(Light blue background: behavior node) (Grey background: inserted documentation) (Magenta background: X3D Extensibility)
-->

<!-- Additional help information about X3D scenes: X3D Resources, X3D Scene Authoring Hints and X3D Tooltips -->