Tech Triton is a 26” AUV developed by GT MRG in conjunction with Aquabots VIP.
Powered by 8 Blue Robotics T200 thrusters with 5 degrees of freedom capabilities in 3D space.
Designed with modularity to facilitate easy modification, maintenance, and future upgrades since its first year in Robosub.
Mechanical
8 Blue Robotics T200 thrusters with 5 degrees of freedom capabilities in 3D space.
Internal retractable drawer.
Structure of Submarine
Main enclosure.
Water jet aluminum plates.
Strong polycarbonate tubes:
Mount components on the rail and easy assembly/disassembly.
Electronics housed inside enclosure with drawer for easy access, modification, and maintenance of electronics.
Electrical
Magnetic E-Stop:
4 automotive relays.
Power System:
2 subsystems:
Relays.
Computer and sensors:
Powered sensors:
IMU.
OAK-D camera.
CB board.
Intel Next Unit of Computing (NUC):
Extension cable to connect to Ethernet.
Teensy:
Isolate power from computer to new battery for microcontroller.
Custom PCB: Activate all the motors through ESC and relays, also manages other sensors (e.g., pressure and leak sensors).
Software
Tech Triton runs a ROS2 software stack on this Intel NUC to fuse data from the stereo camera, DVL, IMU, and sonars to navigate underwater.
Our autonomy package uses a simple task-based architecture to complete various challenges.
The flexible structure of ROS has been especially useful for our team, allowing seamless integration with Gazebo so development of software could begin even before the vehicle was finalized.
