Abstract - The UFRJ Nautilus team focused this year on the making of a brand new autonomous underwater vehicle (AUV) called Lua. It comes with a completely new mechanical and electronic part and brings to the table our previous software algorithms with improvements. The mechanical work was focused on a lighter AUV with higher mobility and the addition of the mechanical arm and the ball dropper while the electrical work centered around the use of a backplane to guarantee a more organized and safer power distribution. For the software we brought our previous control system to the new AUV, now with 8 thrusters, enhancing the localization method and adding object manipulation to our set of skills. That enabled the team to do not only the tasks that depend solely on the location but also the tasks that involve the use of the mechanical arm and that requires dropping the markers.