{"id":18343,"date":"2025-06-28T19:31:23","date_gmt":"2025-06-28T19:31:23","guid":{"rendered":"https:\/\/sonia.etsmtl.ca\/?page_id=18343"},"modified":"2026-05-28T02:24:29","modified_gmt":"2026-05-28T02:24:29","slug":"auv-8-1","status":"publish","type":"page","link":"https:\/\/sonia.etsmtl.ca\/fr\/auv-8-1\/","title":{"rendered":"AUV8.1"},"content":{"rendered":"\n
\"\"<\/span>
\n
<\/div>\n\n\n\n
\n

AUV8.1<\/p>\n\n\n\n

The next iteration of AUV8<\/p>\n<\/div>

\"\"<\/figure><\/div>\n<\/div><\/div>\n\n\n\n
<\/div>
\n
\n
<\/div>\n\n\n\n
\"\"<\/figure>
\n
\n

Goal:<\/strong> Built upon the original AUV8 platform, the next iteration introduced major improvements to its modular design in 2024. One of the main upgrades was the integration of external battery modules, eliminating the need to open the submarine during battery swaps. This redesign reduces the risk of leaks affecting critical components while significantly decreasing maintenance and preparation time between missions. The highly modular architecture of AUV8 made these improvements possible while preserving flexibility for future developments.<\/p>\n<\/div>\n<\/div><\/div>\n\n\n\n

<\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n
<\/div><\/span>
\n

Overview:<\/p>\n\n\n\n

\n
\n
\"\"<\/figure>
\n

Dimensions<\/h3>\n\n\n\n

Length: 871mm – Width: 453 mm – Height: 319 mm
Height: 42.9 Kg – Volume: 0.0436 m3<\/sup><\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

Hull<\/h3>\n\n\n\n

Machined aluminum hull designed for strength, modularity, and reliable operation<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

6 degrees of freedom<\/h3>\n\n\n\n

X – Y – Z
Roll – Pitch – Yaw<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

Batteries<\/h3>\n\n\n\n

2 X LiPo 4S2P – 17000 mAh – 14.8-16.4V
Total runtime: \u2248 1.25h<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

Motors<\/h3>\n\n\n\n

8 Blue Robotics T200 thrusters – High-performance brushless underwater thrusters<\/p>\n<\/div><\/div>\n<\/div>\n\n\n\n

\n
\"\"<\/figure>
\n

Computer<\/h3>\n\n\n\n

Jetson Xavier AGX (8-core NVIDIA 64-bit CPU + <\/p>\n\n\n\n

512-core NVIDIA GPU + 32GB RAM)<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

Vision<\/h3>\n\n\n\n

Stereolabs ZED Mini – Compact stereo camera for depth perception, 3D mapping, and visual tracking<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

IMU<\/h3>\n\n\n\n

VectorNav VN-100 – Miniature, high-performance Inertial Measurement Unit (IMU)<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

DVL<\/h3>\n\n\n\n

Teledyne Pathfinder – Doppler Velocity Log used for precise underwater navigation<\/p>\n<\/div><\/div>\n\n\n\n

\"\"<\/figure>
\n

Software<\/h3>\n\n\n\n

Ubuntu 20.04 – ROS 2 Humble – YOLOv11 <\/p>\n\n\n\n

C++ – Python<\/p>\n<\/div><\/div>\n<\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n

<\/div><\/span>
\n

Learn more<\/h2>\n\n\n\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\n \t \t\n\t\t\t\n\t\t\t\t
\n\t\t\t\t\t\t\t\t

\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\tMechanical\t\t\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t<\/i>\n\t\t\t\t\t\t\t<\/i>\n\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t\t\t\t<\/span>\n\t\t\t\t<\/span>\n\t\t\t<\/h3>\n\t\t\t\t\t\t\t\n\t\t\t\t\t
\n\t\t\t\t\t\t\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t \t\t\t\t\n\n
\n
\n

The mechanical aspect of the project focused on the machining and integration of a new central section and external battery casings for AUV8.1. The new center section provides mounting points for the batteries, while also increasing the internal volume and improving accessibility to electrical components through dedicated top and side access panels.<\/p>\n\n\n\n

The support legs, flotation system, and torpedo launcher mounting point were also redesigned, while the remaining structural components from the original AUV8 were retained. The layout of the eight thrusters was kept similar to the original design in order to preserve the 6 degrees of freedom control system. All machined aluminum parts are powder-coated or anodized to improve durability and provide increased resistance against corrosion in underwater environments.<\/p>\n<\/div>\n\n\n\n

\n
\"\"
AUV 8.1<\/figcaption><\/figure><\/div>
\"\"
AUV 8<\/figcaption><\/figure><\/div><\/div><\/div><\/div>\n<\/div>\n<\/div>\n\n\n\n
\n\n\n\n
\n
\n