Bumblebee Papers

Bumblebee Robosub Journal 2017

Bumblebee Autonomous Underwater Vehicle (BBAUV) is the product of a team of undergraduates from National University of Singapore (NUS). This vehicle is designed for two competitions: the RoboSub Competition and the Singapore AUV Challenge. The Bumblebee vehicle was fully modelled in CAD and fabricated with CNC machining, laser cutting and 3D printing. This year, Bumblebee has been refined with changes to its software implementation algorithms. This includes the implementation of optical flow, changes to the vision pipeline, and integration between imaging sonar and camera for more robust computer vision. The Bumblebee sensor suite includes a Doppler Velocity Log (DVL), an imaging sonar, a hydrophone array, an Inertial Measurement Unit, two machine vision cameras and a depth sensor. Its software architecture is built upon Robot Operating System (ROS) and the complex vision algorithms have been implemented in OpenCV.

Bumblebee RobotX Journal 2016

Bumblebee Autonomous Surface Vehicle 1.0 (BBASV 1.0) is an extension of the team’s work on autonomous maritime vehicles development, guided by experience gained from the development of the Bumblebee Autonomous Underwater Vehicle (BBAUV), deployed in Robosub, another AUVSI Foundation Competition. This first iteration was developed over a short six-month design and implementation cycle, providing a baseline vehicle to be used for future development work. It features a baseline ASV system with obstacle avoidance, feature tracking, autonomous navigation and acoustic localisation capabilities.

Bumblebee Robosub Journal 2016

Bumblebee Autonomous Underwater Vehicle (BBAUV) is the product of a team of undergraduates from National University of Singapore (NUS). This vehicle is designed for two competitions: AUVSI Robosub Competition and the Singapore AUV Challenge. The Bumblebee 3.0 vehicle was fully modelled in CAD and fabricated with CNC machining, laser cutting and 3D printing. This year the vehicle features many improvements such as a more streamlined mechanical structure, reliable and fault tolerant electrical system as well as more accurate navigation. Sensor fusion between the imaging sonar and the fron-camera was implemented to fascilitate better object tracking and recognition. Bumblebee 3.0’s sensor suite includes a Doppler Velocity Log (DVL), an active imaging sonar, hydrophone array, inertial measurement units and two machine vision cameras. The software architecture is based on Linux, with Robot Operating System (ROS) framework as middleware.

Bumblebee Robosub Journal 2015

BumbleBee Autonomous Underwater Vehicle (BBAUV) is the product of a team of undergraduates from National University of Singapore (NUS). This vehicle is designed for two competitions: the RoboSub Competition and the Singapore AUV Challenge. The BumbleBee vehicle was fully modelled in CAD and fabricated with CNC machining, laser cutting and 3D printing. This year, Bumblebee has been improved with better machine vision cameras, more accurate navigation and imaging sonar integration for more robust computer vision. BumbleBees sensor suite includes a Doppler Velocity Log (DVL), an imaging sonar, a hydrophone array, an Inertial Measurement Unit, two machine vision cameras and a depth sensor. Its software architecture is built upon Robot Operating System (ROS) and the complex vision algorithms have been implemented in OpenCV.

Bumblebee Robosub Journal 2014

Bumblebee Robosub Journal 2013