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  <head>
    <meta content='Cetus.x3d' name='title'/>
    <meta content='Don Brutzman NPS and Gary Trimble Lockheed-Martin-Perry' name='creator'/>
    <meta content='6 September 2000' name='created'/>
    <meta content='20 October 2019' name='modified'/>
    <meta content='CETUS II autonomous underwater vehicle (AUV).' name='description'/>
    <meta content='CetusBow.png' name='Image'/>
    <meta content='CetusStarboardSide.png' name='Image'/>
    <meta content='CetusStern.png' name='Image'/>
    <meta content='CetusFlyerMarch2001.pdf' name='reference'/>
    <meta content='http://perrymare.com' name='reference'/>
    <meta content='https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/Cetus.x3d' name='identifier'/>
    <meta content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit' name='generator'/>
    <meta content='../../license.html' name='license'/>
  </head>
  <Scene>
    <WorldInfo title='Cetus.x3d'/>
    <Viewpoint description='Cetus II starboard side' orientation='1 0 0 -0.2' position='0 .5 2'/>
    <Viewpoint description='Cetus II from behind' orientation='0 1 0 -1.57' position='-2.5 0.5 0'/>
    <Transform rotation='1 0 0 0.2'>
      <Viewpoint description='Cetus II port side' orientation='0 1 0 3.14' position='0 0.5 -2'/>
    </Transform>
    <Viewpoint description='Cetus II from ahead' orientation='0 1 0 1.57' position='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='3.14' crossSection='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 0' scale='0.7 0.7 0.4 0.4 0.1 0.1' spine='-18 0 0 -24 0 0 -27 0 0'/>
            <Appearance DEF='InternationalOrange'>
              <Material diffuseColor='1 0.5 0' emissiveColor='0.5 0.25 0'/>
            </Appearance>
          </Shape>
          <!-- center section -->
          <Shape>
            <Extrusion creaseAngle='1.5' crossSection='-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 0' scale='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 0.1' spine='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'/>
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          <!-- nose section -->
          <Shape>
            <Extrusion creaseAngle='3.14' crossSection='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 0' scale='0.4 0.4 0.8 0.8 0.95 0.95' spine='27 0 0 21 0 0 16 0 0'/>
            <Appearance USE='InternationalOrange'/>
          </Shape>
        </Group>
        <!-- Solid body -->
        <Shape>
          <Extrusion creaseAngle='3.14' crossSection='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 0' scale='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 0.1' spine='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='SternPlanes' translation='-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='11' radius='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='7' radius='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 26' translation='0 0 7'>
          <Inline DEF='PropulsionThruster' url='"ThrusterTechnadyne.x3d" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.x3d" "ThrusterTechnadyne.wrl" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.wrl"'/>
        </Transform>
        <Transform scale='20 26 26' translation='0 0 -7'>
          <Inline USE='PropulsionThruster'/>
        </Transform>
      </Transform>
      <!-- Payload section -->
      <Transform center='0 1 0' rotation='0 0 1 -1.57' translation='0 1 0'>
        <Shape>
          <Cylinder height='32' radius='3.5'/>
          <Appearance USE='BlackAppearance'/>
        </Shape>
        <Transform translation='1 0 6.5'>
          <Shape DEF='Electronics1'>
            <Cylinder height='32' radius='2.5'/>
            <Appearance USE='BlackAppearance'/>
          </Shape>
        </Transform>
        <Transform translation='1 0 -6.5'>
          <Shape USE='Electronics1'/>
        </Transform>
      </Transform>
    </Transform>
  </Scene>
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