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ABOUT US

AUV-IITB comprises of highly enthusiastic and hard working technocrats ranging from bright-eyed freshmen to driven senior undergraduates and tech-experienced post-graduates spanning various branches of engineering like Mechanical, Electrical, Software, Aerospace, Material Science and Civil at Indian Institute of Technology Bombay. The team works towards participating at AUVSI Robosub Competition, which is held annually in July at San Diego, California. The competition is a platform for students to display their skills in underwater robotics and build a connection with industries working along similar verticals. The competition demands designing and manufacturing of an autonomous underwater vehicle that can perform predefined tasks. This draws upon expertise of the areas of engineering provided by multifaceted team.Currently we are a 22 membered team developing cutting edge technology for Autonomous Underwater Vehicles (AUV).The development of an AUV is a year long process involving design, manufacturing, assembly, testing, integration and competition preparation. In order to accelerate the development of MATSYA our team is structured into three sub divisions viz Mechanical, Electrical and Software.Every year the team puts in 30,000 man hours for the development and integration of our AUV MATSYA.

Electrical Subdivision


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The Electrical Sub-Division is responsible for handling the electrical requirements of the Sensors, Thrusters, On-Boards Computer, Cameras and much much more.

The main task carried out by us are:
Battery and Power Management: Dedicated Boards regulate the flow of power across the vehicle. Crucial Tasks such as Level Conversion, Battery Merging and Emergency precautions are undertaken. This is truly the ‘Powerhouse’ of the vehicle.
Communication: The electrical sub-division is responsible for the communications protocol on board. We act as an interface between the code written by our friends in the Software Team and the external environment and vehicle developed by our Mechanical Sub-division. From controlling the thrusters, to firing torpedos and dropping markers, we do it all! We make the vehicle as interactive and alive as possible.
Sensor Setup and Interfacing: Being an amazing AUV requires some exciting sensors to be placed on board. We provide the interface to these sensors and ensure that they work as required.

What else? As a subdivison, we are constantly on the look out for new ideas and technologies that can be incorporated into our electronic stack. We work throughout the year improving our AUV one wire at a time!
How do we do this? We develop custom designed PCB’s which are then finished and tested before being deployed into the vehicle.


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Arpit Singh

Sub Division Head
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Ninad Kale

Elec
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Viraj Vivek Nadkarni

Elec
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Drumil Trivedi

Trainee
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Pranjal Jain

Trainee
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Sanjoli Narang

Trainee
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Sudhanshu Nimbalkar

Trainee

Mechanical Subdivision


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Engineering is Solving Problems and Mechanical Subdivision works specifically on bringing all possible mechanical advancements in the vehicle to solve a problem. Making waterproof Enclosures for Sensors and electronics, designing the frame of vehicle and implementation of actuation system to run torpedos, markers and gripper, all comes under Mechanical Subdivision. Every problem is first analyzed thoroughly to see how mechanical devices or subsystems can be introduced to solve that problem. Then, with the help of Computer-aided design, model is made and analysed with softwares such as Ansys and Solidworks. Redesigning is done until we get proper results by Analysis. The Mechanical Subdivision develops and tests the prototypes of designed parts to ensure that everything fits to solve the problem without creating a new one. In-house manufacturing is done by the facilities provided by IIT Bombay to ensure no defects. Overall, This Subdivision looks after the rigidity, compactness, Robustness of Mechanical parts and Dynamics of the vehicle.


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Anuj Verma

Sub Division Head
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Devansh Sharma

Deputy Team head
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Athul Nambolan

RnD Head
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Mayank Pandey

RnD Head
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Aditya Biniwale

Mech
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Ananay Garg

Mech

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Anant Taraniya

Mech
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Vipul Ramtekkar

Mech
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Adhishree Apte

Trainee
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Akshat Raj Lad

Trainee
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Pranav Pagar

Trainee
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Rohan Gulve

Trainee

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Sourav Mishra

Trainee
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Vyankatesh Sawalapurkar

Trainee

Software Subdivision


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The Software Subdivision is the subdivision that writes over 15,000 lines of code to make the AUV Autonomous! They are the ones who are responsible for making the AUV capable of completing a certain task underwater. They also simulate the tasks and environment in Gazebo software to make the coding efficient. Their software stack is written majorly in C, C++ and Python.The main packages in the software stack include drivers, localisation, controller, navigator, simulator, state machine, mission planner, vision and acoustics, all of which have been written from scratch with the help of libraries such ROS for inter process communication and OpenCV for image processing. All these packages combined give the autonomy to the vehicle, making it capable of taking its own decisions.The overall architecture of the stack is highly object oriented and majorly independent of the vehicles. Their code is highly professional, with inbuilt tests and extensive documentation. Apart from coding, another important task for the subdivision is the real life testing, where they physically test their code on the vehicle underwater. The main aim of software subdivision is to write software, that is generic and error free, in order to get the vehicles working at their full potential.


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Hari Prasad V

Sub Division Head
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Pranav Rao

Software
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Sudarsanan R

Software
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Archit Nanda

Trainee
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Parth Patil

Trainee
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Piyush Tibarewal

Trainee

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Vabilisetti Mohan Abhyas

Trainee

PR Division


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The PR Subdivision also known as the Non-Technical Subdivision where six sub departments namely Events, Design, Marketing, Media, PR and Web form its backbone.The aim of PR is to inform the public, prospective customers, investors, partners, employees, and other stakeholders and ultimately persuade them to maintain a positive or favorable view about the AUV. We establish and maintain relationships with AUV target audience, the media, relevant trade media, and other opinion leaders. Our common responsibilities include designing communications campaigns, writing news release and other content for news, working with the press, arranging interviews for company spokespeople, acting as an AUV's spokesperson, media interviews and speeches, writing website and social media content, managing AUV’S reputation, managing internal communications, and marketing activities like awareness about AUV and competitions in which we participate and related event management. .


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Sthitapragyan Mohanty

PR Team Head
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Akshay Khadav

Design Manager
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Yashwardhan Jani

Events Manager
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Shilpi Agrawal

Marketing Manager
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Nisha Mahawar

Media Manager
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Sritej Siddam

Web Manager

Team Leaders

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Jay Prakash

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Yash Bhagat

Team Advisor

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Varun Mittal

Faculty Advisors

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Prof. Leena Vacchani

Dept. of Systems and Control
IIT Bombay
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Prof. Hemendra Arya

Dept. of Aerospace Engineering
IIT Bombay

RoboSub and SAVe


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We participate in two competitions viz.
1.The International Robosub Competition organized by the the Association for Unmanned Vehicle System International (AUVSI) cosponsored by US Office of Naval Research.
2.The National SAVe Competition organized by National Institute of Technology under the Ministry of Earth Sciences, along with IEEE OES.

The goal of both the competitions is to develop an AUV capable of completing realistic missions underwater. The tasks are designed so as to simulate the real -life problems faced by the navy during rescue missions and underwater exploration .Some of these tasks are shooting torpedoes, dropping markers, listening and locating the underwater sound sources, identifying different colours and shapes of objects underwater & grabbing objects underwater .

Robosub
robosub
robosub



VEHICLES

Matsya 5.0

  • Degrees of freedom : 6 (Yaw, Pitch, Sway, Roll, Surge and Heave)
  • Weight : 47 kgs
  • Dimensions : 1750mm x 780mm x 640mm
  • Endurance : 240 Minutes
  • Depth Rating : 150 feet
  • Pressure Vessels :
    Separate hulls for Electronics, Batteries, Cameras, IMU and DVL.
  • Actuation System :
    Assembly of eight thrusters, Markers, Gripper and Torpedos
  • Power : Lithium Polymer Batteries
  • Feedback Control : Visual, Inertial, Pressure, DVL and Acoustic.
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Matsya 4.0

  • Degrees of freedom : 5 (Yaw, Pitch, Roll, Surge and Heave)
  • Weight : 41.4 Kgs
  • Dimensions : 1070mm x 770mm x 550mm
  • Endurance : 240 Minutes
  • Depth Rating : 150 feet
  • Pressure Vessels :
    Separate hulls for Electronics, Batteries, Cameras, IMU and DVL.
  • Actuation System :
    Assembly of Six thrusters, Markers, Gripper and Torpedos
  • Power : Lithium Polymer Batteries
  • Feedback Control : Visual, Inertial, Pressure, DVL and Acoustic.
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Matsya 3.0

  • Degrees of freedom : 5 (Yaw, Pitch, Roll, Surge and Heave)
  • Weight : 44 Kgs
  • Dimensions : 1152mm x 695mm x 760mm
  • Endurance : 120 Minutes
  • Depth Rating : 150 feet
  • Pressure Vessels :
    Separate hulls for Electronics, Batteries, IMU and Cameras.
  • Actuation System :
    Assembly of Six thrusters, Markers and Torpedos.
  • Power : Lithium Polymer Batteries
  • Feedback Control : Visual, Inertial, Pressure and Acoustic.
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Matsya 2.0

  • Degrees of freedom : 5 (Yaw, Pitch, Roll, Surge and Heave)
  • Weight : 24 Kgs
  • Dimensions : 930mm x 410mm x 650mm
  • Endurance : 90 Minutes
  • Depth Rating : 100 feet
  • Pressure Vessels :
    Separate hulls for Electronics, Batteries, Camera and Hydrophones.
  • Actuation System :
    Assembly of Six thrusters, Markers
  • Power : Lithium Polymer Batteries
  • Feedback Control : Visual, Inertial, Pressure
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Matsya 1.0

  • Degrees of freedom : 5 (Yaw, Pitch, Roll, Surge and Heave)
  • Weight : 20 Kgs
  • Dimensions : 1000mm x 531mm x 337mm
  • Endurance : 60 Minutes
  • Depth Rating : 40 feet
  • Pressure Vessels :
    One Hull for Electronics, Batteries and Camera.
  • Actuation System :
    Assembly of Five thrusters
  • Power : Lithium Polymer Batteries
  • Feedback Control : Visual, Inertial, Pressure
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SOCIAL

OUR SOCIAL MEDIA PAGES

We post regularly to update on our progress and what our team is upto.

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AWARDS
&
GALLERY

Our Awards


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  • Runners-up at Robosub 2016 (amongst 50 international teams)
  • Finalists in Robosub 2017
  • Winners at NIOT SAVe 2016 (amongst 14 national teams)
  • Best performance by an Asian AUV at Robosub 2016
  • Best performance by an Indian AUV at Robosub 2012-2017

American Society of Mechanical Research (ASME) ASME 2014, International Undergraduate Research and Design Expo 2014, Montreal

Design Evaluation Of Pressure Chamber For Underwater Vehicles
Design and Development of twisted fin torpedo and its actuation
Impact of thruster positioning and profiling on controls of an AUV
Development of unique robotic manipulator and its dynamic and kinetic analysis

ASME 2013, International Mechanical Engineering Congress & Exposition, San Diego

Design, Analysis and Development of a Frame for Autonomous Underwater Vehicles ASME 2012,

International Undergraduate Research and Design Expo 2012, Houston

System Design and Implementation of Autonomous Underwater Vehicle

NIOT, IEEE International Underwater Technology Symposium 2013 Workshop

Modeling and Experimental Verification of Dynamics of an AUV
(Ranked 2nd at Research Expo for “Design and Development of Autonomous Underwater Vehicle, Matsya 2.0”)

Gallery


m5 at san diego ca
Director of IIT Bombay at Matsya 3.0 Unveiling
The Kill Switches on Matsya 4.0
Matsya 4.0 at TransDec
Runners-up at Robosub 2016
Team 2015 at Teledyne
Winners at NIOT SAVe 2016
Winners at NIOT SAVe 2016



SPONSORS

Sponsors who support our Team


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CONTACT

We're Available at

3, YP Rd, IIT Area, Powai, Mumbai, Maharashtra- 400076
auv-iitb@gmail.com
Jay Prakash
+91 7738920780
jayprakashdav20@gmail.com
Yash Bhagat
+91 8454008540
yashybhagat@gmail.com



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