Archimedes ASV 1.0
Read our 2024 Technical Design Paper
Power
CPU
2 x E60 ePropulsion Lithium Batteries
NVIDIA Jetson Orin NX
UAV Operations
Propulsion
Telemetry
Vision
GPS
Communication
Power Distribution Board
Actuator
Hexsoon Power Distribution Board
Racquetball Launcher
Navy 3.0 Evo
UAV Landing Dock
Hydrophone
Controller
Teledyne Reson TC4013
Cube Orange Plus MCU
Zed 2i Stereo Camera
Herelink
Ubiquiti Rocket Prism 5AC Transeiver
Ubiquiti Rocket 5AC Transceiver
airMAX Omni Antenna
airMAX Sector Antenna
Hemisphere R632 GNSS Receiver
Hemisphere A25 Antenna
Vehicle Technical Information
Mechanical System
Propulsion
Two Navy 3.0 Evo motors are mounted in parallel along the USV’s keel, providing a differential drive propulsion system. Each propeller is independently powered by an E60 lithium battery, which has a high capacity of 60 Ah and a steady 48V voltage for continuous power output.
The Navy 3.0 Evo propeller provides 60 kg (133 lbs.) of thrust which easily manoeuvres our USV in water. The lightweight design of the E60 batteries optimizes the overall weight of the USV, contributing to a longer operational range and improved energy efficiency.
The Cube Orange+ MCU independently controls each propeller’s speed allowing for smooth steering and efficient navigation suitable for complex conditions such as waves and currents.
It uses the RS485 communication protocol which provides stable and reliable long-distance data transmission.
Additionally, the relatively simple structure of the differential drive reduces the failure rate, ensuring reliability in harsh conditions. It’s lower maintenance costs also make it more economical for extended operations at sea.
UAV Landing Dock
The UAV Landing Dock secures our UAV onto the USV’s payload tray during its operations on the uneven sea terrain. The microprocessor wirelessly communicates with the Raspberry Pi companion computer on our UAV to determine when to release the UAV for launch and when to lock it down after recovery. It works by using 4 stepper motors to actuate the linear motion of 4 rods, clamping down onto the legs of the UAV.
Racquetball Launcher
The racquetball launch contains two main modules – the reloading module and the launch module. Through a drum reloading mechanism, racquetballs are leased into the launch barrel one by one.
Two flywheels within the barrel that actuate the launch of the racquetball out the barrel. The base structure of our launcher is designed with a future control module and trajectory planning module in mind.
Based on the positional information of the target goal obtained through our vision module, our future launcher will be able to calculate the parameters of the desired trajectory, adjust the pitch and yaw of our launch barrel and toggle the launch speed of the racquetball to accurately toss it into the goal.
Read our 2024 Technical Design Paper
Electrical Framework
Lighting and Relay Control:
4-Channel Relay Module:
Controlled by the Cube Orange+ MCU.
Manages lighting of the sign tower and switching of solid-state relays.
Relay Module Configuration:
Connected in series with the control input of the solid-state relays.
When the relay module is open, the solid-state relays lose control voltage and shut off power, allowing for remote control of the propulsion system's power supply.
Remote Communication:
Herelink: Enables remote communication with the USV.
Power Distribution Board (PDB):
Centralized board for distributing 24V power to multiple components.
DC-DC Converters:
48V to 24V DC-DC Converter:
Distributes 24V power to various components.
24V to 12V DC-DC Converter:
Supplies 12V power to the onboard PC.
24V to 7V DC-DC Converter:
Supplies 7V power to the Herelink and the fan
Control System:
Cube Orange+ MCU:
Responsible for the boat's autonomous navigation and control.
MAX485 Module:
Handles RS485 communication with the Navy 3.0 propellers.
M9N GPS:
Provides navigation data for the vessel.
Power Supply:
Two E60 Batteries:
Supply 48V power to the system.
Solid-State Relays (SSRs):
Control power delivery to the two Navy 3.0 propellers.
External Devices:
Power Supply:
GPS and Wi-Fi antenna receive 24V power directly from the 48V-24V DC-DC converter.
Supports positioning and wireless communication functions.
Camera System:
Onboard PC:
Receives 12V power from the 24V-12V DC-DC converter.
Controls the Zed 2i camera system for enhanced imaging.
Read our 2024 Technical Design Paper
Communications Network
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Ubiquiti Rocket Transceivers and airMAX Antennae:
Technology Overview: Ubiquiti's Rocket series is engineered for outdoor and maritime applications, offering high throughput and extensive range capabilities.
Deployment Configuration:
Omnidirectional and Directional Antennae: Utilization of both antenna types optimizes signal strength and coverage based on environmental needs.
Environmental Resilience: Designed to withstand marine conditions, ensuring reliable performance even in adverse weather.
Data Throughput: Achieves data rates exceeding 100 Mbps, essential for high-bandwidth applications like video streaming and telemetry.
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MAVLink Protocol:
Protocol Features:
Message Structure: Compact and efficient format ensures real-time communication.
Versioning and Compatibility: Supports multiple versions, allowing for adaptability in hardware and software.
Heartbeats and Status Updates: Maintains connection status and triggers alerts for lost connectivity or delays.
Integration with ROS:
Node Implementation: MAVLink is implemented as a dedicated ROS node, ensuring smooth data exchange.
Custom Messages: Tailored messages for specific operational needs enhance functionality.
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Rush Solo Tank Video Transmitter:
Integration and Functionality:
Streaming Capabilities: High-definition video streaming for real-time monitoring.
Multi-Channel Support: Ability to switch between different camera feeds as needed.
User Interface Integration: Live video feed integrated into the GUI enhances situational awareness.
Low-Latency Performance: Optimized for minimal delay, ensuring effective monitoring and control.
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Dashboard Layout:
Key Performance Indicators (KPIs): Display of critical metrics such as battery life, signal strength, and mission duration.
Control and Interaction:
Interactive Controls: Easy-to-use buttons for command execution, with immediate feedback on actions taken.
Feedback Mechanisms: Visual confirmations and alerts for user actions enhance operational clarity.
Visual Aesthetics:
Real-time Updates: Dashboard elements refresh automatically, providing up-to-date telemetry data.
Read our 2024 Technical Design Paper
Perception System
Global Positioning System - GPS
Our GPS module uses the Hemisphere R632 GNSS receiver, chosen for its multi-satellite system support (GPS, GLONASS, BeiDou, Galileo), RTK capability and multiple methods of connectivity and wireless communications. It offers worldwide stand-alone positioning to 4cm and have a heading accuracy of up to 0.01 degrees.
The GNSS receiver is paired with the Hemisphere A25 Antenna. The A25 is has millimeter accuracy in land and marine applications, has superior multi-path mitigation, stable phase center and strong SNR’s even at low elevations. Its rugged aluminum housing is pretreated for marine use, withstanding salt, fog, and spray.
By processing the NMEA information received from the GNSS receiver to obtain latitude and longitude, we can then use the Haversine formula to convert them to local coordinates for accurate navigation with respect to the course.
Binocular Vision
The USV uses the ZED2i – a durable, versatile and powerful IP66-rated Rolling Shutter camera designed for spatial analytics and immersive experiences. It is powered by Neural Depth Engine 2, has a high-performance IMU and a robust aluminum structure to withstand harsh conditions.
Paired with a YOLO model, the ZED2i stereo camera is used for accurate object detection and capture of three-dimensional point cloud information to derive coordinates and depth.
Hydrophone
The Teledyne Reson TC4013 boasts the following properties: High sensitivity, Omnidirectional to high frequencies, Broad banded, O-ring sealed mounting and are individually calibrated. It detects the digital data of acoustic signals allows us to determine their frequencies and locate the sound emitter of interest.