  This paper describes the design of a miniature uncrewed underwater vehicle
(MiniUUV) and related instrumentation for indoor experimentation. The MiniUUV
was developed using 3D printed components and low-cost, off-the-shelf
electronics. The vehicle uses a propeller differential propulsion drive and a
peristaltic pump with a syringe for buoyancy control. A water tank with an
overhead camera system was constructed to allow for convenient indoor data
collection in a controlled environment. Several tests were conducted to
demonstrate the capabilities of the MiniUUV and data collection system,
including buoyancy pump actuation tests and straight line, circular, and
zig-zag motion tests on the surface. During each planar motion test an AprilTag
was attached to the MiniUUV and an overhead camera system obtained video
recordings that were processed offline to estimate vehicle position, surge
velocity, sway velocity, yaw angle, and yaw rate.
