ASUQTR

Submarine

ASUQTR Submarine Architecture

This page presents the vehicle's main subsystems: propulsion, power, onboard computing, sensors, perception, communication and autonomy.

System summary

8 Thrusters Blue Robotics T200	2 Batteries Venom 4S LiPo 14.8V	1 Onboard computing NVIDIA Jetson AGX Xavier 32 GB
1 DVL Water Linked DVL-A50	1 IMU VectorNav VN-100	2 Cameras Blue Robotics Low-Light USB Camera

The system

The submarine is built around a Jetson AGX Xavier onboard computer, which runs ROS2, perception, autonomy and control algorithms. The main sensors provide orientation, depth, speed, odometry and environmental perception.

Sensors and perception

IMU VectorNav VN-100 Orientation, acceleration and angular velocity.	DVL Water Linked DVL-A50 Speed, altitude and underwater odometry.	Depth Blue Robotics Bar30 Pressure measurement for vertical control.
Sonar Blue Robotics Ping360 Sonar perception and obstacle localization.	Vision 2 Low-Light USB cameras Object detection with YOLO.	Acoustic Aquarian Audio H2a ECM Hydrophones for acoustic detection.

Main onboard technologies

The ASUQTR submarine combines several advanced technologies to navigate autonomously underwater. The main systems used are presented below.

System	Role	Technology used
Propulsion	Moves the submarine in all directions	8 Blue Robotics T200 thrusters
Onboard computing	Runs artificial intelligence and autonomy	NVIDIA Jetson AGX Xavier 32GB
Computer vision	Object detection and visual navigation	2 low-light USB cameras + YOLO
Inertial navigation	Measures the submarine's orientation and movements	VectorNav VN-100
Underwater positioning	Estimates underwater speed and position	Water Linked DVL-A50
Sonar perception	Obstacle detection and environment mapping	Blue Robotics Ping360
Depth sensor	Measures underwater depth	Blue Robotics Bar30
Hydrophones	Detects underwater acoustic signals	Aquarian Audio H2a ECM
Autonomy	Manages autonomous behaviors and missions	ROS2 + FlexBE + LQR/EKF
Communication	Transmits data between the submarine and the surface	Waterproof Ethernet tether
Power supply	Distributes power to the system	2 Venom LiPo batteries 14.8V
Structure	Mechanical support and module waterproofing	3D-printed structure + SubConn connectors

About the project

ASUQTR is a multidisciplinary student project aiming to design an autonomous underwater vehicle capable of performing various missions fully autonomously as part of the RoboSub competition.

The project combines several engineering fields, including artificial intelligence, computer vision, control systems, embedded electronics, underwater mechanics and real-time systems.