Vehicle’s Dimensions
- Length: 39 in
- Width: 21 in
- Height: 14 in
Mass of Vehicle
- 25 kg
Top Speed
- 0.75 m/s
Degrees of Freedom
- 6 [roll, pitch, yaw]
Primary Compute
- NVIDIA AGX Orin
Propulsion System
- 8x Blue Robotics T200 Thrusters
Navigation Components
- Teledyne Pathfinder DVL
- XSens MTi-200-VRU IMU
- Blue Robotics Depth Sensor
Vision Equipiment
- 2x ZED Mini Stereo Camera
Sonar
- Blue Robotics Ping 360
Manipulators
- Blue Trail Engineering waterproof servo
- Sequenced marker dropper (2x golf ball)
- 2x pneumatic torpedo shooter
- Servo actuated gripper
Power System
- 14.8 V 4s 16Ah Lipo Battery
Underwater Connectors
- Subconn 8-pin Ethernet Connectors
- Blue Trail Engineering Cobalt Connnectors
Software Architecture
- Robot Operating System (ROS)
- Ubuntu 18.04 LTS
- Gazebo + UUV Simulator
- C++, Python, and MATLAB