Computing System Assembly

/images/docs2_html_26959cd60c5ef294.png The images show the communication interfaces between the Raspberry Pi 4 and Jetson Orin NX via the Ethernet Switches. Connected via the Fathom ROV Tether, the Ethernet Switches act as the data hub for inter-enclosure bidirectional data transfers between the 2 computers.

Jetson Orin NX

/images/docs2_html_74e09af286e9cf26.png Due to size constraints, Jetson Orin NX was chosen as the edge computer with considerable processing power for our applications such as processing visual feed for visual sampling, LLM processing, AI-based planning and localization.

Raspberry Pi 4

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The original control module that is in the BlueROV2 Heavy consists of only the Raspberry Pi 4, Navigator Flight Controller, and the Fathom-X Tether Interface Board. Raspberry Pi 4 processes the control commands sent by the topside computer via the Fathom-X Tether Interface Board. These control commands are then converted to pulse-width modulation (PWM) signals via the Navigator Flight controller, which are then used to control the thruster speed and direction of rotation.

To facilitate the inter-enclosure data communication between the Raspberry Pi 4 and Jetson Orin NX, a 5-port Ethernet Switch is mounted on the Fathom-X Tether Interface Board to form the ethernet communication bridge between the two computers. An installation guide for the Ethernet Switch connection can be found on the Blue Robotics website by following the link below:

[https://bluerobotics.com/learn/ethernet-switch-installation-guide-for-the- bluerov2/](https://bluerobotics.com/learn/ethernet-switch-installation-guide-for-the- bluerov2/)