Overview
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Mechanical
Aluminium cassing
Economical material and esayer manufacturing.
Better heat exchange with water and anodized for durability.
Modular
More and larger access points.
Clip system allows tool-free component installation/removal.
Power controle
Communication System:
Full-duplex RS-485 network connecting 14 devices.
Protocol custom-developed for optimized bandwidth and increase flexibility.
Power supply board:
Power supply boards
4 power supply boards
control system that monitors temperature, current, and voltage of the batteries and channels.
Power supply board
Two channels, each powering a motor, controlled by N-type MOSFET transistors.
Third channel: buck converter to supply 12V to the computer and DVL.
4S batteries (14.8V)
Better adapted for brushless motors.
Software
ROS Integration
First submarine to adopt ROS, replacing the previous Java + JAUS system.
Modular Node Architecture
- Blue nodes communicate with hardware (e.g., thrusters).
- Green nodes handle decision-making and send instructions to blue nodes.
Scalability & Maintainability
Changes in hardware only impact the corresponding blue node, keeping the rest of the system intact.
GALLERY
