Matsya 6


Mechanical :

  • New ESC Hull
  • New Battery Hull
  • Imporved Kill Switches
  • Custom Mount for GPU for efficient great dissipation

Electrical :

  • New LCD Screen
  • New Debug Board
  • New Double Redundant GPIO Board
  • Improved Power Board

Software :

  • More optimized mission plannar
  • Improved YOLO v3 ML detection
  • Autotuning for controller parameters
  • GUI software for map

Matsya 5


Mechanical :

  • Hydrodynamic surface to reduce drag
  • 2 Dof arm with replaceable jaws
  • Skeleton type frame
  • 8 thrusters enabling all 6 DoF

Electrical :

  • Hot swappable power supply feature
  • Thrusters increased to 8 from 6.
  • Mako G-234 camera for better image
  • CAN 2.0B communication protocol
  • GTX1660Ti for ML

Software :

  • Shifted State Machine to probabilistic model
  • Modified vision to detect multiple tasks simultaneously
  • Implemented PID controller

Achievements:

  • Finalist RoboSub 2017
  • Winners NIOT SAVe 2018

Matsya 4


Mechanical :

  • Two battery hulls to increase Endurance Time
  • Four underwater Kill switches
  • Six thrusters configuration

Electrical :

  • Improved GPIO board to reduce wiring
  • Intel i7 4th Gen 2.5GHz + 8GB RAM
  • 4 hydrophones for localization
  • DAQ NI 9223 for digitization of Hydrophone data
  • Two 5-cell 18.5V 16Ah LiPo batteries

Software :

  • Redesigned Controller for 5DoF
  • 3D motion simulation tool
  • DVL and Acoustic Localization system in the navigation framework
  • Generic object tracking algorithm that is able to track the target object even if detection techniques fail

Achievements:

  • Runner-up RoboSub 2016
  • Winners NIOT SAVe 2016

Matsya 3


Mechanical :

  • Used DVL for the first time
  • Separate non-metallic enclosure for the IMU sensor
  • Four grippers, different design

Electrical :

  • UART Communication protocol
  • Water Seepage Detection Unit
  • Teledyne's Doppler Velocity Log(DVL)
  • 3DM-GX3-25 AHRS system for low drift and precise orientation

Software :

  • Ethernet based inter-board communication
  • Introduction of navigator package
  • New vision framework using OpenCV
  • ML based object detection using- Sliding window detector and Feature vector extractors

Achievements:

  • Best performing Indian AUV in RoboSub 2014

Matsya 2


Mechanical :

  • separate enclosures for electronics, battery pod, cameras
  • actuators for torpedoes, dropping markers and gripping objects
  • Latches introduced for quick removal of end cap from main hull
  • Additional of sway D.O.F

Electrical :

  • Hydrophone Array
  • Separate motor driver board
  • On-board computer (Intel Core 2 Duo 3.0 GHz + 4GB of RAM)
  • Scalable power lines

Software :

  • ROS for internode information relay
  • Gazebo simulator for testing
  • Dynamic calibration of the inertial unit
  • FSM implementation of Mission Planner

Achievements:

  • Best performing Indian AUV in RoboSub 2013

Matsya 1


Mechanical :

  • Single Cylindrical Acrylic Hull with Aluminium End-cap
  • Feedback from IMU and Pressure Sensors
  • 5 DOF using a 5 Thruster configuration
  • Frame made from Al 8020 sections
  • Max speed of 0.65 m/s

Electrical :

  • 1.2GHz Arm cortex-A9 CPU, 1GB RAM
  • BMS, temperature sensor, water seepage detection, pressure sensor
  • Vectornav’s VN 100 AHRS (attitude and heading reference system)

Software :

  • Basic mission planning module
  • Comm. between hardware modules
  • Color Contrast Stretching for underwater images
  • Localization using cameras

Achievements:

  • Lightest AUV in RoboSub 2012