The Amador Valley High School Robotics Club has constructed a new and improved autonomous underwater vehicle named Marlin for the 20th RoboSub Competition.
|Weight (in air)||36 kg|
|Hull||9.5 in (24 cm) diameter acrylic tube|
|Propulsion||8x VideoRay M5 Brushless Thrusters|
|Power||2x 22.2V 22,000 mAh LiPo Batteries (in series)|
|Underwater Connections||SubConn Power, Circular, Micro Circular, Ethernet, and Coax series|
|Cameras||2x 1.3 MP Point Grey Blackfly machine vision cameras w/ Theia Technologies SY125M lenses|
|Navigation Sensors||Pressure Sensor (Ashcroft Model K1)
AHRS (PNI TRAX AHRS Module)
Hydrophones (4x Teledyne Reson TC4013)
|Main Computer||Intel i7-4790T on Jetway NG9J-Q87 Mini ITX
8GB DDR3 RAM
120GB mSATA SSD
|Embedded Computer (Control)||ATmega 2560|
|Data Acquisition and Signal Processing||National Instruments USB-7855R OEM (RSeries Multifunction RIO with Kintex-7 70T FPGA)|
This section provides a brief overview of Marlin’s mechanical, electrical, and software systems. For in-depth coverage, please see the journal paper.