Bumblebee 3.5 Autonomous Underwater Vehicle

Vehicle’s Dimensions

Length : 1.3m
Breadth : 0.6m
Width : 0.6m

Mass of Vehicle

52kg in Air

Top Speed

1.2m/s

Degrees of Freedom

6 (Roll, Pitch, Yaw), (x,y,z).

Single Board Computer Model

Intel Core i7-7600
16GB DDR4 RAM
512GB mSATA3 Mini SSD

Embedded Systems (Acoustics)

sbRIO-9606 400MHz controller with NI9223 Analog input module

Propulsion System

6 Rovee Brushless Thrusters
2 Videoray Surge Thrusters

Navigation Components

Teledyne RDI Pathfinder DVL
Sparton AHRS-8 IMU
MS US300 Pressure/Depth Sensor
STIM 300 IMU

Vision Equipment

1 FLIR BFS-PGE314SC-C Camera (Foward Facing)
1 FLIR BFS-PGE314SC-C Camera (Downwards Facing)

Sonar

BlueView M900

Manipulators

Festo Pneumatics Systems

Manipulators

Festo Pneumatics Systems

Power System

22.2V 10000mAh LiPo Battery (x2)

Underwater Connectors

SubConn Micro and Low Profile Series

Software Architecture

Robot Operating System (ROS)
Ubuntu 16.04 LTS

Mechanical System

Electrical Architecture

Software Architecture

Robosub Journal Paper - Our Design and Implementation