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"SHARKBAIT"

Freshmen

6

Sophomores

12

Juniors

7

MECHANICAL

PVC pipe hull with a polycarbonate dome 

 

 Internal components are housed on an electronics prism, hollowed out in order to easily run wires to the individual parts

 

8 BlueRobotics T200 thrusters

 

 Electronic arm, 2 torpedo launchers, and a marble dropper for completing various obstacles

 

 Watertight to prevent leakage.For components that were not watertight, casings were made.

ELECTRICAL

Electronic system consists of Intel Nuc, ATX power supply, Arduino Uno, Adafruit PWM driver and printed circuit board.

 

• The main program runs on an Intel NUC, which provides commands to the thrusters and servos through serial command communication with the Arduino Uno

 

• VectorNav VN-100 Attitude and Heading Reference System collects data about the vehicle’s orientation in real-time

 

Powered by 4 4S 10,000 mAh batteries

PROGRAMMING

 Intel NUC processes input feed from cameras and sensors

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 Real time image processing performed using OpenCV libraries, allowing the estimation of the position of objects

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 Arduino Uno microcontroller receives the object position and sensor data from the Intel NUC to control the thrusters' speeds

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 Program written entirely in Python

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 Recursive functions continually make real-time changes to the performance of the AUV

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