{"id":18671,"date":"2026-05-26T22:34:21","date_gmt":"2026-05-26T22:34:21","guid":{"rendered":"https:\/\/sonia.etsmtl.ca\/?page_id=18671"},"modified":"2026-05-28T01:18:19","modified_gmt":"2026-05-28T01:18:19","slug":"lite1","status":"publish","type":"page","link":"https:\/\/sonia.etsmtl.ca\/fr\/lite1\/","title":{"rendered":"LITE1"},"content":{"rendered":"\n<div class=\"wp-block-cover alignfull is-light\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0;min-height:844px;aspect-ratio:unset;\"><video class=\"wp-block-cover__video-background intrinsic-ignore\" autoplay muted loop playsinline src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/vecteezy_under-water-with-sun-light-in-the-ocean.mp4\" poster=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/trame-1.png\" data-object-fit=\"cover\"><\/video><span aria-hidden=\"true\" class=\"wp-block-cover__background has-lightgrey-background-color has-background-dim-20 has-background-dim\"><\/span><div class=\"wp-block-cover__inner-container has-global-padding is-layout-constrained wp-block-cover-is-layout-constrained\">\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"margin-right:0;margin-left:0;padding-top:0;padding-right:0;padding-bottom:0;padding-left:0;grid-template-columns:55% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"576\" height=\"357\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/lite-removebg-preview-e1779802950603.png\" alt=\"\" class=\"wp-image-18683 size-full\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/lite-removebg-preview-e1779802950603.png 576w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/lite-removebg-preview-e1779802950603-300x186.png 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/lite-removebg-preview-e1779802950603-18x12.png 18w\" sizes=\"auto, (max-width: 576px) 100vw, 576px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"has-text-align-center has-foreground-color has-text-color\" style=\"margin-top:-5px;margin-bottom:-5px;font-size:clamp(3.426em, 3.426rem + ((1vw - 0.2em) * 5.061), 7em);font-style:normal;font-weight:900\">LITE1<\/p>\n\n\n\n<p class=\"has-text-align-center has-large-font-size\" style=\"padding-top:0;padding-right:0;padding-bottom:0;padding-left:0\">The first of the new<br>LITE series<\/p>\n\n\n\n<p class=\"has-text-align-center has-x-small-font-size\"><a href=\"https:\/\/www.vecteezy.com\/free-videos\/deep-sea\">Deep Sea Stock Videos by Vecteezy<\/a><\/p>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-cover alignfull\" style=\"min-height:325px;aspect-ratio:unset;\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"640\" class=\"wp-block-cover__image-background wp-image-18674 size-large\" alt=\"\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/d30zxze-8aede52f-079c-4789-a2ef-8a4513ced030-1024x640.jpg\" data-object-fit=\"cover\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/d30zxze-8aede52f-079c-4789-a2ef-8a4513ced030-1024x640.jpg 1024w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/d30zxze-8aede52f-079c-4789-a2ef-8a4513ced030-300x188.jpg 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/d30zxze-8aede52f-079c-4789-a2ef-8a4513ced030-18x12.jpg 18w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/d30zxze-8aede52f-079c-4789-a2ef-8a4513ced030.jpg 1680w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><span aria-hidden=\"true\" class=\"wp-block-cover__background has-background-dim-10 has-background-dim\" style=\"background-color:#1b2a46\"><\/span><div class=\"wp-block-cover__inner-container has-global-padding is-layout-constrained wp-block-cover-is-layout-constrained\">\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:20% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/idea-svgrepo-com-d9bb91.svg\" alt=\"\" class=\"wp-image-18675 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"has-text-align-center\">LITE1 was designed as the first vehicle of the new LITE series, with the goal of providing a secondary autonomous submarine capable of assisting AUV8.1 during missions. Its primary role is to handle simpler tasks, gather environmental and mission data, and transmit information to the main vehicle.To achieve a lighter and more compact design, LITE1 does not include a DVL, torpedo launcher, dropper, or robotic arm. The vehicle also operates using a single battery, further reducing weight and simplifying its architecture while maintaining effective autonomous capabilities.<\/p>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-cover alignfull has-parallax has-custom-content-position is-position-top-center\" style=\"padding-right:var(--wp--preset--spacing--x-small);padding-left:var(--wp--preset--spacing--x-small);min-height:652px;aspect-ratio:unset;\"><div class=\"wp-block-cover__image-background wp-image-18441 has-parallax\" style=\"background-position:50% 50%;background-image:url(https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2025\/07\/image-mesh-gradient-4-1-1024x878.png)\"><\/div><span aria-hidden=\"true\" class=\"wp-block-cover__background has-background-dim\"><\/span><div class=\"wp-block-cover__inner-container is-layout-flow wp-block-cover-is-layout-flow\">\n<p class=\"has-text-align-center has-large-font-size\">Overview:<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"padding-right:0;padding-left:0\">\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/dimensions-svgrepo-com-0c3d3a.svg\" alt=\"\" class=\"wp-image-18652 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Dimensions<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">Length: 593 mm &#8211; Width: 661 mm &#8211; Height: 278 mm<br>Height: 28.26 Kg &#8211; Volume: 0.0333 m<sup>3<\/sup><\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/submarine-svgrepo-com-38b1b5.svg\" alt=\"\" class=\"wp-image-18656 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Hull<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">Machined and welded aluminum hull ensuring a strong, lightweight, and watertight structure.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/axis-svgrepo-com-5a933f.svg\" alt=\"\" class=\"wp-image-18653 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">6 degrees of freedom<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">X &#8211; Y &#8211; Z <br>Roll &#8211; Pitch &#8211; Yaw<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/battery-bolt-alt-svgrepo-com-3ef5ef.svg\" alt=\"\" class=\"wp-image-18654 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Battery<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">1 X LiPo 4S2P &#8211; 17000 mAh &#8211; 14.8-16.4V <br>Total runtime: \u2248 45mn<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/propeller-motion-device-thrust-svgrepo-com-8354ec.svg\" alt=\"\" class=\"wp-image-18655 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Motors<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">8 Blue Robotics T200 thrusters &#8211; High-performance brushless underwater thrusters<\/p>\n<\/div><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/cpu-svgrepo-com-c4c061.svg\" alt=\"\" class=\"wp-image-18647 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Computer<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">Jetson Xavier AGX (8-core NVIDIA 64-bit CPU + <\/p>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">512-core NVIDIA  GPU + 32GB RAM)<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/eye-svgrepo-com-ed9606.svg\" alt=\"\" class=\"wp-image-18648 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Vision<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">Stereolabs ZED 2i &#8211; High quality stereo camera for depth perception, 3D mapping, and visual tracking<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/compass-svgrepo-com-d870b6.svg\" alt=\"\" class=\"wp-image-18650 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">IMU<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">VectorNav VN-100 &#8211; Miniature, high-performance Inertial Measurement Unit (IMU)<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/position-svgrepo-com-3d4379.svg\" alt=\"\" class=\"wp-image-18676 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Control<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">IMU-based state estimation and 6-DOF control using an EKF and MPC.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:16% auto\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/software-platform-computer-software-system-svgrepo-com-9285bb.svg\" alt=\"\" class=\"wp-image-18651 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<h3 class=\"wp-block-heading\" style=\"margin-top:-2px;margin-bottom:-2px\">Software<\/h3>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">Ubuntu 20.04 &#8211; ROS 2 Humble &#8211; YOLOv11 <\/p>\n\n\n\n<p style=\"margin-top:-4px;margin-bottom:-4px\">C++ &#8211; Python<\/p>\n<\/div><\/div>\n<\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-cover alignfull has-parallax\" id=\"mechanical\"><div class=\"wp-block-cover__image-background wp-image-18689 size-full has-parallax\" style=\"background-position:50% 50%;background-image:url(https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/water_back.jpg)\"><\/div><span aria-hidden=\"true\" class=\"wp-block-cover__background has-background-dim-0 has-background-dim\"><\/span><div class=\"wp-block-cover__inner-container has-global-padding is-layout-constrained wp-block-cover-is-layout-constrained\">\n<h2 class=\"wp-block-heading has-text-align-center\">Learn more<\/h2>\n\n\n\t\t<div class=\"sp-easy-accordion-block sp-eab-regular-accordion alignwide\"\n\t\t\t\t>\n\t\t\t<div class=\"sp-eab-wrapper sp-eab-vertical-accordion sp-eab-7cc980bfdc01\">\n\t\t\t\t\t\t\t\t<div class='sp-eab-accordion sp-eab-mode-vertical sp-eab-vertical-one sp-d-flex' data-accordion-settings=\"{&quot;mode&quot;:&quot;vertical&quot;,&quot;activeEvent&quot;:&quot;click&quot;,&quot;defaultAccordionOpen&quot;:&quot;close-all&quot;,&quot;selectedItemOpen&quot;:0,&quot;openMultiItemAtaTime&quot;:false,&quot;scrollToTopOnLoad&quot;:false,&quot;scrollToTopOnClick&quot;:false,&quot;accordionItemToUrl&quot;:false,&quot;animationEffect&quot;:false,&quot;applyAccessibility&quot;:true}\">\n        \t    \t\n\t\t\t<div\n\t\t\t\tid =\"sp-eab-item-8b6cb3664780\"\n\t\t\t\tclass=\"sp-eab-accordion-item eab-item-eab-parent-7cc980bfdc01\"\n\t\t\t\t\t\t\t>\n\t\t\t\t<div class=\"sp-eab-accordion-item-wrapper\">\n\t\t\t\t\t\t\t\t<h3 class='sp-eab-accordion-heading sp-d-flex sp-align-center eab-heading-eab-parent-7cc980bfdc01'\n\t\t\t\t\t\t>\n\t\t\t\t<span class='sp-eab-accordion-header-wrapper sp-d-flex sp-align-center eab-icon-position-end'>\n\t\t\t\t\t<span class='sp-eab-accordion-header-start sp-d-flex sp-justify-left sp-align-center'>\n\t\t\t\t\t\t<span class='sp-eab-title-subtitle-wrapper sp-d-flex'>\n\t\t\t\t\t\t\t<span class='sp-eab-accordion-title-wrapper sp-d-flex sp-align-center'>\n\t\t\t\t\t\t\t\t<span class='sp-eab-accordion-title-text'>\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<span class='sp-eab-accordion-header-end eab-icon-animated'>\n\t\t\t\t\t\t\t\t\t\t\t\t<span class='sp-eab-expand-collapse-icon sp-d-block'>\n\t\t\t\t\t\t\t<i class='sp-eab-expand-icon eab-icon-angle-down-solid'><\/i>\n\t\t\t\t\t\t\t<i class='sp-eab-collapse-icon eab-icon-angle-up-solid'><\/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<!-- accordion body -->\n\t\t\t\t\t<div class='sp-eab-accordion-content eab-content-eab-parent-7cc980bfdc01'>\n\t\t\t\t\t\t\t\t\t\t\t\t<div class='sp-eab-accordion-content-wrapper'>\n\t\t\t\t\t\t\t<div class='sp-eab-accordion-body'>\n\t\t\t    \t\t\t\t\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>The hull of LITE1 was machined from five aluminum sections and welded into a watertight structure with guidance from our sponsor <a href=\"https:\/\/pacometal.ca\/\" target=\"_blank\" rel=\"noreferrer noopener\">Paco M\u00e9tal<\/a>. The bottom and four side panels are permanently welded together, while the top cover is bolted in place to provide access to internal components. The positioning of the eight thrusters follows the same layout as our other submarines in order to preserve the 6 degrees of freedom control system.<br>The battery is mounted underneath the submarine, which led to the design of dedicated support legs and handles that allow the vehicle to be safely and easily flipped during maintenance and battery operations. The hull is powder-coated for increased corrosion resistance, while all other machined parts are anodized for improved durability in underwater environments.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:45%\">\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" autoplay loop muted src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/Coque.mp4\" playsinline><\/video><\/figure>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-video\"><video height=\"1426\" style=\"aspect-ratio: 2880 \/ 1426;\" width=\"2880\" autoplay loop muted src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/Assemblage-Rack-Lite-1.mp4\" playsinline><\/video><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>The internal racking system was designed as a removable assembly that allows all electrical components to be accessed and serviced outside of the submarine. Once the cables are disconnected and the mounting screws removed, the entire rack can be extracted as a single unit for easier maintenance and integration work. The horizontal handles can be quickly removed by pulling retaining pins, improving accessibility when working inside the vehicle. <br>Most structural parts of the rack are 3D-printed to reduce weight and simplify customization. Nylon screws are also used inside the submarine to minimize the risk of short circuits in the event that a fastener becomes loose during operation.<\/p>\n<\/div>\n<\/div>\n\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\n\n\t\t\t<div\n\t\t\t\tid =\"sp-eab-item-ba9051de7623\"\n\t\t\t\tclass=\"sp-eab-accordion-item eab-item-eab-parent-7cc980bfdc01\"\n\t\t\t\t\t\t\t>\n\t\t\t\t<div class=\"sp-eab-accordion-item-wrapper\">\n\t\t\t\t\t\t\t\t<h3 class='sp-eab-accordion-heading sp-d-flex sp-align-center eab-heading-eab-parent-7cc980bfdc01'\n\t\t\t\t\t\t>\n\t\t\t\t<span class='sp-eab-accordion-header-wrapper sp-d-flex sp-align-center eab-icon-position-end'>\n\t\t\t\t\t<span class='sp-eab-accordion-header-start sp-d-flex sp-justify-left sp-align-center'>\n\t\t\t\t\t\t<span class='sp-eab-title-subtitle-wrapper sp-d-flex'>\n\t\t\t\t\t\t\t<span class='sp-eab-accordion-title-wrapper sp-d-flex sp-align-center'>\n\t\t\t\t\t\t\t\t<span class='sp-eab-accordion-title-text'>\n\t\t\t\t\t\t\t\t\tElectrical\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<span class='sp-eab-accordion-header-end eab-icon-animated'>\n\t\t\t\t\t\t\t\t\t\t\t\t<span class='sp-eab-expand-collapse-icon sp-d-block'>\n\t\t\t\t\t\t\t<i class='sp-eab-expand-icon eab-icon-angle-down-solid'><\/i>\n\t\t\t\t\t\t\t<i class='sp-eab-collapse-icon eab-icon-angle-up-solid'><\/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<!-- accordion body -->\n\t\t\t\t\t<div class='sp-eab-accordion-content eab-content-eab-parent-7cc980bfdc01'>\n\t\t\t\t\t\t\t\t\t\t\t\t<div class='sp-eab-accordion-content-wrapper'>\n\t\t\t\t\t\t\t<div class='sp-eab-accordion-body'>\n\t\t\t    \t\t\t\t\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"padding-right:5%;padding-left:5%\">\n<figure class=\"wp-block-image aligncenter size-large has-custom-border\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/PSU-e1779814352502-1024x683.png\" alt=\"\" class=\"wp-image-18690\" style=\"border-top-left-radius:20px;border-top-right-radius:20px;border-bottom-left-radius:20px;border-bottom-right-radius:20px;aspect-ratio:1.4993367050824973;object-fit:cover\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/PSU-e1779814352502-1024x683.png 1024w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/PSU-e1779814352502-300x200.png 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/PSU-e1779814352502-18x12.png 18w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/PSU-e1779814352502-768x512.png 768w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/PSU-e1779814352502.png 1084w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large has-custom-border\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"678\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/DSC_0869-1024x678.jpg\" alt=\"\" class=\"wp-image-18735\" style=\"border-top-left-radius:20px;border-top-right-radius:20px;border-bottom-left-radius:20px;border-bottom-right-radius:20px;aspect-ratio:1.510393020875061;object-fit:cover\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/DSC_0869-1024x678.jpg 1024w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/DSC_0869-300x199.jpg 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/DSC_0869-2000x1325.jpg 2000w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/DSC_0869-scaled-18x12.jpg 18w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:55%\">\n<p>The new Power Supply Unit (PSU) is connected directly to the batteries and is responsible for distributing power to all onboard systems and components. In addition to power management, the PSU also handles critical safety functions, including cutting power to the thrusters when the kill switch is activated.<\/p>\n\n\n\n<p>This protection system is implemented as a true \u201chard kill,\u201d meaning the shutdown does not rely on software or onboard computers. When the kill switch is triggered, power to the motors is physically disconnected, completely preventing any movement of the submarine and ensuring safe operation during handling or emergency situations.<\/p>\n\n\n\n<p>The PSU was designed with a modular architecture to simplify maintenance and improve reliability. Four identical and interchangeable control boards are used, each responsible for powering and controlling two thrusters. In the event of a failure, a board can quickly be disconnected and replaced without modifying the rest of the system. The safety circuit is integrated into the same connector system, further simplifying installation and servicing while maintaining a robust and secure electrical design.<\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:55%\">\n<p>LITE1 also integrates the same Battery Management System (BMS) architecture used on AUV8.1, providing continuous monitoring and protection of the battery pack. The system tracks the voltage, current, and temperature of each cell to ensure safe operation, optimize performance, and extend battery lifespan.<\/p>\n\n\n\n<p>Since LITE1 operates with a single battery, the electrical load on the pack is higher than on AUV8.1. The BMS therefore plays an even more important role in maintaining battery integrity and ensuring reliable operation during missions. As with AUV8.1, the system also allows the battery to be charged directly inside its casing, reducing handling time and minimizing the risk of leaks or water ingress.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image aligncenter size-full is-resized has-custom-border\"><img loading=\"lazy\" decoding=\"async\" width=\"919\" height=\"750\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/cad-bms.png\" alt=\"\" class=\"wp-image-18694\" style=\"border-top-left-radius:20px;border-top-right-radius:20px;border-bottom-left-radius:20px;border-bottom-right-radius:20px;aspect-ratio:1.2253769269862782;width:346px;height:auto\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/cad-bms.png 919w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/cad-bms-300x245.png 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/cad-bms-15x12.png 15w\" sizes=\"auto, (max-width: 919px) 100vw, 919px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\n\n\t\t\t<div\n\t\t\t\tid =\"sp-eab-item-b12394a88481\"\n\t\t\t\tclass=\"sp-eab-accordion-item eab-item-eab-parent-7cc980bfdc01\"\n\t\t\t\t\t\t\t>\n\t\t\t\t<div class=\"sp-eab-accordion-item-wrapper\">\n\t\t\t\t\t\t\t\t<h3 class='sp-eab-accordion-heading sp-d-flex sp-align-center eab-heading-eab-parent-7cc980bfdc01'\n\t\t\t\t\t\t>\n\t\t\t\t<span class='sp-eab-accordion-header-wrapper sp-d-flex sp-align-center eab-icon-position-end'>\n\t\t\t\t\t<span class='sp-eab-accordion-header-start sp-d-flex sp-justify-left sp-align-center'>\n\t\t\t\t\t\t<span class='sp-eab-title-subtitle-wrapper sp-d-flex'>\n\t\t\t\t\t\t\t<span class='sp-eab-accordion-title-wrapper sp-d-flex sp-align-center'>\n\t\t\t\t\t\t\t\t<span class='sp-eab-accordion-title-text'>\n\t\t\t\t\t\t\t\t\tSoftware\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<span class='sp-eab-accordion-header-end eab-icon-animated'>\n\t\t\t\t\t\t\t\t\t\t\t\t<span class='sp-eab-expand-collapse-icon sp-d-block'>\n\t\t\t\t\t\t\t<i class='sp-eab-expand-icon eab-icon-angle-down-solid'><\/i>\n\t\t\t\t\t\t\t<i class='sp-eab-collapse-icon eab-icon-angle-up-solid'><\/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<!-- accordion body -->\n\t\t\t\t\t<div class='sp-eab-accordion-content eab-content-eab-parent-7cc980bfdc01'>\n\t\t\t\t\t\t\t\t\t\t\t\t<div class='sp-eab-accordion-content-wrapper'>\n\t\t\t\t\t\t\t<div class='sp-eab-accordion-body'>\n\t\t\t    \t\t\t\t\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<p>The control system of LITE1 is an adapted version of the control architecture used on our other submarines, modified to operate without a DVL. On previous vehicles, the DVL provided velocity measurements, which were then used to estimate the submarine\u2019s position, while the IMU was mainly responsible for orientation and rotational tracking.<\/p>\n\n\n\n<p>Without a DVL, LITE1 relies much more heavily on IMU-based estimation for motion tracking and navigation. The system uses two IMUs: the VN-100 and the IMU integrated within the ZED 2i, combining multiple sensor sources to improve robustness and redundancy. Although this approach results in less precise position tracking over time compared to a DVL-based solution, the limitation is compensated for by the onboard vision system, which helps the submarine maintain awareness of its environment and improves navigation reliability during missions.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div style=\"height:15px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"515\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220-1024x515.png\" alt=\"\" class=\"wp-image-18738\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220-1024x515.png 1024w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220-300x151.png 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220-18x9.png 18w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220-768x386.png 768w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220-1536x772.png 1536w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/image-15-e1779910469220.png 1767w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full has-custom-border\"><img loading=\"lazy\" decoding=\"async\" width=\"1023\" height=\"573\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/IA.png\" alt=\"\" class=\"wp-image-18736\" style=\"border-top-left-radius:20px;border-top-right-radius:20px;border-bottom-left-radius:20px;border-bottom-right-radius:20px\" srcset=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/IA.png 1023w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/IA-300x168.png 300w, https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/IA-18x10.png 18w\" sizes=\"auto, (max-width: 1023px) 100vw, 1023px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>All of our submarines run an AI system trained to recognize the obstacles and mission elements used in the competition environment. Images captured by the onboard cameras are collected and manually labeled by team members in order to train custom detection models adapted to our own hardware and operating conditions.<\/p>\n\n\n\n<p>During missions, the AI runs directly onboard the submarine on an Jetson AGX Xavier, allowing real-time image processing and object recognition. This enables the vehicles to autonomously detect, identify, and interact with elements of the competition course while operating underwater.<\/p>\n<\/div>\n<\/div>\n\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t<\/div>\n\t\t\n\n\n<div class=\"wp-block-buttons is-content-justification-center is-layout-flex wp-container-core-buttons-is-layout-d30fa2c6 wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link has-foreground-background-color has-background has-border-color has-background-border-color has-medium-font-size has-custom-font-size wp-element-button\" href=\"https:\/\/sonia.etsmtl.ca\/publications\/#tdr\" style=\"border-width:2px\">Learn more in our TDRs!<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link has-foreground-background-color has-background has-border-color has-background-border-color has-medium-font-size has-custom-font-size wp-element-button\" href=\"https:\/\/sonia.etsmtl.ca\/overview\/\" style=\"border-width:2px\">View all our AUVs!<\/a><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-cover alignfull is-light\"><span aria-hidden=\"true\" class=\"wp-block-cover__background has-background-background-color has-background-dim-100 has-background-dim\"><\/span><div class=\"wp-block-cover__inner-container has-global-padding is-layout-constrained wp-block-cover-is-layout-constrained\">\n<h2 class=\"wp-block-heading has-text-align-center\">LITE1 Gallery<\/h2>\n\n\n<div  id=\"jtg-18684\" class=\"modula modula-gallery modula-columns\" data-config=\"{&quot;tabletHeight&quot;:800,&quot;mobileHeight&quot;:800,&quot;desktopHeight&quot;:800,&quot;enableTwitter&quot;:false,&quot;enableWhatsapp&quot;:false,&quot;enableFacebook&quot;:false,&quot;enablePinterest&quot;:false,&quot;enableLinkedin&quot;:false,&quot;enableEmail&quot;:false,&quot;randomFactor&quot;:0.5,&quot;type&quot;:&quot;grid&quot;,&quot;columns&quot;:12,&quot;gutter&quot;:10,&quot;mobileGutter&quot;:10,&quot;tabletGutter&quot;:10,&quot;desktopGutter&quot;:10,&quot;enableResponsive&quot;:true,&quot;tabletColumns&quot;:2,&quot;mobileColumns&quot;:1,&quot;lazyLoad&quot;:0,&quot;lightboxOpts&quot;:{&quot;animated&quot;:true,&quot;Thumbs&quot;:{&quot;type&quot;:&quot;modern&quot;,&quot;showOnStart&quot;:false},&quot;Toolbar&quot;:{&quot;display&quot;:{&quot;right&quot;:[&quot;close&quot;]},&quot;enabled&quot;:true},&quot;Carousel&quot;:{&quot;Panzoom&quot;:{&quot;touch&quot;:true},&quot;infinite&quot;:false},&quot;keyboard&quot;:{&quot;Escape&quot;:&quot;close&quot;,&quot;Delete&quot;:&quot;close&quot;,&quot;Backspace&quot;:&quot;close&quot;,&quot;PageUp&quot;:&quot;next&quot;,&quot;PageDown&quot;:&quot;prev&quot;,&quot;ArrowUp&quot;:&quot;prev&quot;,&quot;ArrowDown&quot;:&quot;next&quot;,&quot;ArrowRight&quot;:&quot;next&quot;,&quot;ArrowLeft&quot;:&quot;prev&quot;},&quot;wheel&quot;:&quot;slide&quot;,&quot;touch&quot;:true,&quot;backdropClick&quot;:&quot;close&quot;,&quot;l10n&quot;:{&quot;CLOSE&quot;:&quot;Close&quot;,&quot;NEXT&quot;:&quot;Next&quot;,&quot;PREV&quot;:&quot;Previous&quot;,&quot;Error&quot;:&quot;The requested content cannot be loaded. Please try again later.&quot;,&quot;PLAY_START&quot;:&quot;Start slideshow&quot;,&quot;PLAY_STOP&quot;:&quot;Pause slideshow&quot;,&quot;FULL_SCREEN&quot;:&quot;Full screen&quot;,&quot;THUMBS&quot;:&quot;Thumbnails&quot;,&quot;DOWNLOAD&quot;:&quot;Download&quot;,&quot;SHARE&quot;:&quot;Share&quot;,&quot;ZOOM&quot;:&quot;Zoom&quot;,&quot;EMAIL&quot;:&quot;Here is the link to the image : %%image_link%% and this is the link to the gallery : %%gallery_link%%&quot;,&quot;MODAL&quot;:&quot;You can close this modal content with the ESC key&quot;,&quot;ERROR&quot;:&quot;Something Went Wrong, Please Try Again Later&quot;,&quot;IMAGE_ERROR&quot;:&quot;Image Not Found&quot;,&quot;ELEMENT_NOT_FOUND&quot;:&quot;HTML Element Not Found&quot;,&quot;AJAX_NOT_FOUND&quot;:&quot;Error Loading AJAX : Not Found&quot;,&quot;AJAX_FORBIDDEN&quot;:&quot;Error Loading AJAX : Forbidden&quot;,&quot;IFRAME_ERROR&quot;:&quot;Error Loading Page&quot;,&quot;TOGGLE_ZOOM&quot;:&quot;Toggle zoom level&quot;,&quot;TOGGLE_THUMBS&quot;:&quot;Toggle thumbnails&quot;,&quot;TOGGLE_SLIDESHOW&quot;:&quot;Toggle slideshow&quot;,&quot;TOGGLE_FULLSCREEN&quot;:&quot;Toggle full-screen mode&quot;},&quot;Images&quot;:{&quot;Panzoom&quot;:{&quot;maxScale&quot;:2}},&quot;mainClass&quot;:&quot;modula-fancybox-container modula-lightbox-jtg-18684&quot;,&quot;Html&quot;:{&quot;videoAutoplay&quot;:0,&quot;videoTpl&quot;:&quot;&lt;video class=\\&quot;fancybox__html5video\\&quot; controls muted playsinline controlsList controlsList=\\&quot;nodownload\\&quot; poster=\\&quot;{{poster}}\\&quot; src=\\&quot;{{src}}\\&quot; type=\\&quot;{{format}}\\&quot; &gt;  Sorry, your browser doesn&#039;t support embedded videos, &lt;a href=\\&quot;{{src}}\\&quot;&gt; download &lt;\\\/a&gt; and watch with your favorite video player! &lt;\\\/video&gt;&quot;}},&quot;inView&quot;:false,&quot;email_subject&quot;:&quot;Check out this awesome image !!&quot;,&quot;email_message&quot;:&quot;Here is the link to the image : %%image_link%% and this is the link to the gallery : %%gallery_link%%&quot;,&quot;grid_type&quot;:&quot;automatic&quot;,&quot;rowHeight&quot;:250,&quot;lastRow&quot;:&quot;justify&quot;,&quot;lightbox&quot;:&quot;fancybox&quot;,&quot;lightbox_devices&quot;:&quot;both&quot;}\">\n\n\t\n\t<div  class=\"modula-items grid-gallery\">\n\t\t<div class=\"modula-item effect-pufrobo\" >\n\t<div class=\"modula-item-overlay\"><\/div>\n\n\t<div class=\"modula-item-content\">\n\n\t\t<a data-image-id=\"18685\" role=\"button\" tabindex=\"0\" rel=\"jtg-18684\" data-caption=\"\" aria-label=\"Open image in lightbox\" class=\"tile-inner modula-item-link\"><\/a><img loading=\"lazy\" decoding=\"async\" class=\"pic wp-image-18685\"  data-valign=\"middle\" data-halign=\"center\" alt=\"\" data-full=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/LITE-2.jpg\" title=\"LITE (2)\" crop=\"\" width=\"300\" height=\"169\" src=\"https:\/\/sonia.etsmtl.ca\/wp-content\/uploads\/2026\/05\/LITE-2-300x169.jpg\" 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