Bumblebee 3.0 Autonomous Underwater Vehicle

Vehicle’s Dimensions

Length : 1.2m
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 i5-4402E on Aaeon GENE-QM87
8GB DDR3 RAM
512GB SATA3 SSD

Embedded Systems (Acoustics)

sbRIO-9606 400MHz controller with NI9223 Analog input module

Propulsion System

6 Seabotix BTD150
2 Videoray Surge Thrusters

Navigation Components

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

Vision Equipment

1 AVT Guppy Pro Camera
1 AVT Guppy Camera

Sonar

BlueView M900

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)
Gentoo GNU/Linux x64

Mechanical System

Click Here!

Electrical Architecture

Click Here!

Software Architecture

Click Here!

Robosub Journal Paper - Our Design and Implementation

Download here!