Electrical Overview

Sensors

Depth: Measurement Specialties US300 30PSI Gauge

Velocity:  Teledyne Workhorse 1200kHz Doppler Velocity Log

Sensors

IMU: 9-axis DOF Sparton AHRS-8

Acoustics:  Sparton PHOD-1 Hydrophones

Embedded System

ATMega 2560, Arduino Mega Development Board

Digital Signal Processing

NI Single Board RIO 9612

Analog Input Module NI9223

Single Board Computer

EMB-QM77 Motherboard

Intel Ivy Bridge Core i7-3610QE

16GB SSD

8Gb RAM

ATX Power Supply

M4-ATX

24V, 12V, 5V, 3.3V

Vision

Forward: Bumblebee Stereo Camera

Downward: FireFly MV Camera

Battery Capacity

And Management

21,600 mAh

4 x OpenUPS

Y-PWR for Hot Swap

Propulsion

6 Seabotix BTD150 Thrusters to give 5DOF

Motor Controllers

6 x Polulu Simple Motor Controllers