Overview

Co-led development of a specialized Mini‑AUV built for movement-focused challenges (Gate + Slalom). The vehicle is lightweight (~13kg) with an optimized 8‑thruster configuration for maneuverability.

Electrical designs

• Parallel MOSFET main power switch design with reed switch compatibility.
• Signal-based killswitch for ESCs via SN74HC4066 analog switch.
• Telemetry with ESP32‑S3‑DEVKITC‑1: pressure, INA219 battery voltage, killswitch state; displayed on OLED.
• Compact PCBs to improve hull space efficiency.

Software & sensors

• Integrated DVL A50 (Waterlinked), Bar30 depth sensor, DWE Explore HD 3.0 underwater camera.
• Configured Pixhawk 6X with ArduSub for control and localization.
• Established MAVROS communication between Pixhawk flight controller and Jetson SBC.
• Perception work: vision/ML for Gate + Slalom tasks.

Competition outcomes (RoboSub 2025)

• Gate: pass-through and maintain control
• Gate: coin flip (start 90/180 degrees from gate)
• Gate: style (barrel roll 8×90 degrees at gate)
• Channel (Slalom): navigate layers with correct channel at correct depth

Media

• Photo (add): MiniAUV.JPG
• Design report (add): Bumblebee_Robosub_Paper_2025.pdf