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