⚙️ ARIEL is built with three levels for optimal functionality and easy access to the components: electronics watertight housing at the top, chassis and maneuvering components and sensors in the middle, and batteries at the bottom.

⚙️ ARIEL watertight compartments are designed to withstand depths of 300 meters.

⚙️ ARIEL chassis, the watertight enclosures, and overall design is planned to minimize drag and to maintain 0.5% buoyancy.

⚙️ ARIEL's motor configuration is designed like a drone - four motors provide horizontal movement, and four motors provide lateral movement, providing 6 DOF maneuverability.

ARIEL’s Navigation and Control system features:

⚡Xsens IMU for motion tracking.

⚡Doppler Velocity Log (DVL) for velocity data.

⚡Pressure sensors for depth feedback.

⚡Sonar and altimeter for obstacle detection and altitude measurement.

These sensors are seamlessly integrated with the Pixhawk, ARIEL’s control hub, which communicates with the NVIDIA Jetson ORIN Nano for streamlined operations.

We’ve connected most of ARIEL’s sensors, lights, and claw to the Jetson and Pixhawk, enabling remote control via ROS2.