BlueROV2

Overview:

Designed, constructed, and tested a new BlueROV2 submersible robot for the Robust Field Autonomy Lab.

Dates:

Jun 2019 - Aug 2019

Location:

Hoboken, NJ

The BlueROV2 team in front of the Robust Field Autonomy Lab

Introduction

Over the summer of 2019, I joined Stevens Institute of Technology's Maritime Security Center (MSC) and their Summer Research Institute (SRI) cohort of 25 students from 7 different universities. During this program, I collaborated with 5 other students and Dr. Brendan Englot to build an enhanced, customized BlueROV2 underwater submersible for future testing with autonomous navigation and mapping.

Our group presented our final report to officals from the DHS I&A, CPB Port of NY/Newark, and the U.S. Coast Guard Sector NY.

Link to the other abstracts from the 2019 SRI Cohort.

Goal: Increase payload capacity while allowing for agile autonomous navigation

Overview

The original BlueROV2 system being used by the Robust Field Autonomy Lab (RFAL) had limited space for internal electronic components.

The proposed BlueROV2 design dubbed "Aquaman" contained more airtight containers for electronics along with custom configurable external sensor mounts. Overall, the process of designing and constructing Aquaman was divided into 4 segments:

Building the physical BlueROV2
Designing an electronics layout for the airtight containers
Integrating the ROS code onto the BlueROV2
Testing the BlueROV2

The original BlueROV2 used by the RFAL

The final BlueROV2 design -- "Aquaman"

Building the BlueROV2

Electronics Layout

ROS

Final version of the BlueROV2 in the Davidson Tow Tank

Testing the original BlueROV2 at the U.S. Merchant Marine Academy (6/12/2019)

Testing

Testing in the Davidson Tow Tank (07/24/2019)

Conclusion

The team successfully built a customized BlueROV2 for future use in research related to autonomous underwater navigation. Aquaman was fully maneuverable underwater and could pull sonar sensor data.

This BlueROV2 is still in use today in the RFAL, and I have kept in contact with other friends who have also worked on this robot.

I am extremely grateful for this opportunitiy given by Beth Austin-DeFares, the MSC SRI program, Dr. Brendan Englot, and the members of the RFAL.