BumbleBee’s software system is powered by an Intel Core i7-3610QE quad core processor on an Aaeon PCM-QM77 motherboard along with a 512 GB SATA SSD (Solid State Drive). This upgrade from the previous 16 GB SSD accommodates more software data and rosbag data collected during practice runs.
A USB hub interfaces the embedded sensors and actuators as well as other serial devices, i.e. two BMBs and the AHRS-8. The imaging sonar is connected via Ethernet with a PoE (Power over Ethernet) connection to the SBC, dedicating imaging sonar bandwidth to the main computer. VGA and USB ports are exposed to allow external debugging of the software systems.
The computer is connected to dockside through a 100 Mbps Ethernet tether. The vehicle is networked to a Gigabit switch that connects to the sbRIO 9602 and surface router. A wireless transceiver