Our AUV

Marlin

The Amador Valley High School Robotics Club has constructed a brand new autonomous underwater vehicle named Marlin for the 19th RoboSub Competition.


General Overview

Weight (in air) 36 kg
Hull 9.5 in (24 cm) diameter acrylic tube
Dimensions Length: .95m
Width: .86m
Height: .56m
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.