Laser cut parts

Laser cut the acrylic plates for the Vision/AI module assembly

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The electronic tray mount consists of 2 round plates and a base mounting plate, fabricated using laser cutting process on a piece of 3mm thick acrylic plate, which serves as a mechanical frame to mount the additional edge computer (i.e., Jetson Orin NX) and sensor modules (i.e., Side Scan Sonar), and the electronics required to supply power to them. The acrylic plates were held together in place with the stronger M3 stainless-steel stands to ensure structural integrity and formed a tray-like structure that allows the user to pull it out from the 4” cylinder enclosure for rapid visual inspection of the electronics. The process of laser cutting only the required acrylic plate(s) to replace any damaged component of the electronic tray easily enables the user to maintain the functionality of the tray in the long run. Coupled with an Ethernet Switch that establishes data communication via ethernet with the Raspberry Pi 4 (RPi 4) in a separate enclosure, the computing architecture could distribute the processing workload between the RPi 4B for executing thruster controls and relaying sensor data and the Jetson Orin NX for processing real-time data and complex algorithms to execute autonomous controls.

Laser cut the acrylic mounting plate for the Side Scan Sonar to Payload

Skid

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The design of the payload skid from Blue Robotics does not account for the mounting of the Cerulean Omniscan 450 Side Scan Sonars to the ROV as they were originally designed to be used on the BlueBoat. Hence, an acrylic sonar mount was fabricated through laser cutting of the acrylic plate based on the dimension constraint of the payload skid to secure the side scan sonar to each side of the payload skid side panel. This design mimics the original orientation of the sonar mounted onto the body of the BlueBoat.