Bumblebee AUV 2.0

BBAUV 2.0

Vehicle’s Dimensions
Length: 1.1 m
Breadth: 0.7 m
Width: 0.5 m
Mass of Vehicle
52 kg in Air
Top Speed
0.65 m/s
Degrees of Freedom
6 (Surge, Sway, Heave, Roll, Pitch, Yaw)
Single Board Computer Model
Intel Core i7–3610QE on Aaeon EMB-QM77
8GB DDR3 RAM
512GB SATA3 SSD
Embedded Systems
Arduino Mega 2560
Xilinx Spartan-3 on NI sbRIO 9602
Propulsion System
Seabotix BTD150 (x6)
Videoray Surge Thrusters (x2)
Navigation Components
Teledyne RDI Explorer DVL
Sparton AHRS-8 IMU
MS US300 Pressure/Depth Sensor
Vision Equipment
AVT Guppy Pro
Microsoft Lifecam Cinema
Sonar
BlueView P450 Imaging Sonar
Teledyne Reson TC4013 Hydrophones (x4)
Manipulators
Festo Pneumatics Systems
Power System
22.2V 7800mAh LiPo Battery (x2)
Underwater Connectors
SubConn Micro and Low Profile Series
Software Architecture
Robot Operating System (ROS)
Debian 7.0

Mechanical System

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Electrical Architecture

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Software Architecture

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Robosub Journal Paper - Our Design and Implementation

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