MECHANICAL
• Four thrusters attached to an outer frame
• The main hull houses majority of the electronics and features watertight endcaps
• Separate, miniature versions of the main hull attached arches on the top of the frame are used to house the batteries and camera
• 3D-printed structure for housing the kill switch
ELECTRICAL
• Two 14.8V 10,000 mAh LiPo batteries
• VN-100 AHRS donated by our sponsor, Vectornav
• Two Measurement Specialties US-300 pressure sensors
• Two SS-Aquacam cameras
• Temperature sensor to ensure the temperature does not get too high and electronics won't be damaged
PROGRAMMING
• Utilization of the OpenCV open-source library to process the video
received from the cameras
• Two Raspberry Pi 2s
to run image processing and all other algorithms
​
• Four Arduino Unos to handle communication between the
sensors and the Raspberry Pis
​
• Thrusters controlled by Raspberry Pis and Arduino Unos