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MeCO has 4 main components when it comes to its electronics package. We have the main Power System, Sensing Suite, Motion Suite, and Onboard Computing Suite. All of these components work together to build MeCO's functional capabilities. We designed these components in a modular fashion, with the idea of being able to upgrade components without having to redesign a large chunk of the system. ROS2 is our framework of choice as it facilitates seamless communication between multiple nodes (or components in our case).

• Component Schematic & Wiring Diagrams
• Power Distribution System
• Onboard Computing & Microcontrollers
• Vision System

Electronic Connections Architecture

This is the general guide for the connections in MeCO. This is not the wiring setup we used in our version of MeCO, but the connections are the same.

Electronic Connections Implementation on MeCO

The above diagram is a guide to how we wired MeCO. Since there are connections across tubes, we used high-bandwidth ethernet cables. These are the purple lines in the diagram. These cables are then sent from the center tube to the side tubes to facilitate communication between the microcontrollers and the OCU (onboard computing unit).

MeCO's electronics are powered by two voltage distribution systems: a 16V system from 4s LiPo batteries for high-power components like motors, and a 5V system using step-down converters for low-power electronics and sensors. Each side tube contains two 4s LiPo batteries, providing 385 Wh of total power capacity. A custom magnetic switch in the center tube controls the side tube power relays, allowing power cycling while maintaining waterproofing. The center tube also houses a 5V buck converter for the microcontrollers and other low-voltage systems.

16V Batteries	Fuse Block	Relay	Buck Converter	5V Power Distribution

We will be updating the Power System onboard MeCO, so refer back to this page if you would like to update your version of MeCO with an upgraded power system.

The main computing system in MeCO is an NVIDIA Jetson Orin NX1. Motor, display, and sensor communications are off-loaded to four Teensy 4.1 microcontrollers. Two Ethernet switches serve as the central communication hub in the network system, connecting the Jetson, Control Teensy, Display Teensy, external tether, and port/starboard tube microcontrollers.

Jetson Orin	Teensy 4.1	Ethernet Switch

MeCO's vision system consists of the ZEDMini (ZED-M) Stereo Camera, with a 65 mm stereo baseline and 8.5 mm 4MP CMOS sensor array. It's affixed to the main electronics board in the center tube and connected to the Nvidia Jetson Orin NX via USB-C for image transfer. Stereo vision enables distance estimation between MeCO and subjects, crucial for a safe diver approach and scene understanding. The tri-tube design allows expansion to wide-baseline stereo by inserting cameras in the side tubes.

MeCO was designed to host 2 pairs of stereo cameras. One of those cameras would have a narrow baseline (the Zed Mini serves this purpose), and the other pair would have a wide baseline. Currently, MeCO only runs a narrow-baseline camera, but we have plans to add a wide-baseline stereo camera setup in the future.